In this paper, the development of a flexible three-dimensional load measurement sensor, using an elastic sphere, is investigated. First, the deformation and movement of an elastic sphere was investigated quantitatively for a normal load and a shearing load. Second, the normal load and the shearing load were applied to a sensor and these loads were measured. Next, conclusions were obtained. The normal load was proportional to the radius cubed of the contact area. The shearing load was proportional to the distance to the base point of the elastic sphere. The newly developed sensor can measure the normal load and the shearing load. As a result, a flexible three-dimensional load measurement sensor, that uses an elastic sphere, was developed.

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