A force measuring mechanism includes two force input members 105, 106, a pair of cantilever springs 101, 102, and a force measuring means 107. A portion of each cantilever spring is held by the first constraining means 103, a portion of each cantilever spring is held by the second constraining means 104, and each cantilever spring includes a first constraining means and a second constraining means. Since there is an unconstrained length between, it can bend freely. The restricting means 103 and 104 hold the cantilever springs 101 and 102 in a parallel and spaced state. Since the force input members 105 and 106 are attached via the restricting means, the relative movement of the force input member bends the cantilever springs 101 and 102, and the force measuring means 107 generates a force applied between the force input members. It is configured to measure. [Selection] Figure 1【課題】【解決手段】 力測定メカニズムは、２つの力入力部材１０５、１０６と、１ペアのカンチレバーばね１０１、１０２と、力測定手段１０７を備える。各カンチレバーばねの一部は第１の制約手段１０３によって保持され、各カンチレバーばねの一部は第２の制約手段１０４によって保持され、各カンチレバーばねは第１の制約手段と第２の制約手段との間に非制約長さを有するため、自由に曲がれる。制約手段１０３、１０４は、カンチレバーばね１０１、１０２を平行かつ離間した状態で保持する。力入力部材１０５、１０６は、制約手段を介して取り付けられているので、力入力部材の相対運動はカンチレバースばね１０１、１０２を曲げ、力測定手段１０７は力入力部材の間に加えられる力を測定するように構成されている。【選択図】図１
