Device for sensing relative movements between an object and a baseplate

A device for sensing the relative movements of an object, said device comprising an input flange securable to the object, a second flange rigidly connected to a baseplate and an approximately ring-shaped intermediate part configured as a one-piece part or a multiple-piece part composed of several elements arranged juxtaposed, said intermediate part being disposed between said two flanges and being connected to said two flanges non-rotatively and in a non-slip manner, and said intermediate part being made at least partly of an elastomer or cast resin, and a force sensing unit provided in the interior portion of said intermediate part for sensing the movement of each flange relative to the other, wherein said force sensing unit (15) includes a stationary supporting means (6) and a cap (150) located movable relative to said supporting means as well as a force-torque sensor (1) for sensing the three possible translational and three possible rotational movements of the cap relative to said supporting means and wherein said sensing unit with its cap is secured in the middle of said input flange and with its supporting means to said second flange so that it does not come into contact with said intermediate part (14), or is secured differingly to the latter by its cap to a connecting part (19) provided in the middle portion of said intermediate part (14′) and protruding into the interior thereof and by its supporting means to said second flange, so that translational and rotational relative movements between said input flange and said second flange secured to said baseplate are communicated by way of said intermediate part to said sensing unit and to said force-torque sensor contained therein.