A force-measurement system (400) can include three or more fluid-filled pressure-sensor chambers (410) around a central rod (434). The force-receiving structure (430) can receive a force at a ball (432) and provide that force through the central rod (434) to a force-distribution structure (420). The force-distribution structure (420) can provide the force to the pressure-sensor chambers (410). These resulting pressures can be used to determine the magnitude, angle, plane angle, and off plane angle of the force received by ball (432).
