Bi-Modal Hemispherical Sensor for Three Axis Force and Contact Angle Measurement

Sensing systems as well as their methods of operation and training are described. In some embodiments, a sensing system may include a compliant contact pad configured to contact an environment, and a plurality of sensors configured to detect a physical parameter associated with deformation of the compliant contact pad. A processor configured to receive signals from the plurality of sensors may determine a magnitude, direction, and/or contact location of a force applied to the compliant contact pad.