Mechanical properties of lipidic membranes such as their bending rigidity are governing liposome morphology and play an important role in processes like membrane fusion and adhesion. Force versus deformation measurements are the most direct means to determine this, but so far experimental data is scarce and mainly stems from techniques that are limited to giant vesicles. We present atomic force microscope force spectroscopy as a method allowing force-deformation measurements of submicron vesicles. Bending rigidities of small unilamellar dipalmitoylphosphatidylcholine (DPPC) liposomes (R<200 nm) can be derived from the force-deformation data using analytical models based on shell theory and are in good agreement with independent measurements.