An ideal multi-axis transducer will respond properly to forces and moments that are applied in intermediate directions. The transducer calibration apparatus described herein can detect transducers that have incorrect off-axes response. One calibration apparatus includes a base, a pair of end stanchions fixed on the base, force actuators mounted between the base, the pair of end stanchions, and a transducer holder, the force actuators arranged to exert forces and moments on a transducer mounted in the transducer holder, and force reaction sensors fixed between the base, the pair of end stanchions, and the transducer holder for measuring forces and moments experienced by the transducer holder.