A method includes the steps of providing a number of force consolidators between an object and a surface, providing a number of force sensors, each in a different one of the force consolidators, measuring an output of the force sensors, and processing the output of the force sensors to determine a total force exerted between the object and the surface. The force consolidators are each configured to reduce a portion of a surface area of the object into a consolidated surface area such that forces exerted on the portion of the surface area are concentrated in the consolidated surface area. By using the force consolidators along with the force sensors, the total force exerted by the object on the surface may be easily measured using off-the-shelf force sensor technologies.