Six-axis force sensor

A six-axis force sensor comprising a pair of members disposed in an opposed relation to each other, and at least three legs scatteringly disposed between the pair of members on the periphery of the member and connecting the pair of members, said six-axis force sensor detecting strains generated in the legs, due to applying a load to one of the pair of members, thereby measuring one or both of a force and a moment acting on said one of the pair of members, based on the detected strains generated in the legs,

• wherein each leg comprises a T-shaped leg, said T-shaped leg consisting of a cross beam supported at both ends thereof by one of the pair of members and extending on the periphery of the member in a circumferential direction, and a vertical beam extending from the center of the cross beam in a direction perpendicular to the cross beam and connected to the other of the pair of members;
• and
• said strains of the legs are detected by a first single-axis-type strain gauge and a second single-axis-type strain gauge, said first single-axis-type strain gauge being attached to a surface of the cross beam facing the side opposite to the vertical beam or a surface of the cross beam facing the vertical beam, so as to be able to detect a strain generated in the cross beam in a longitudinal axis direction thereof, said second single-axis-type strain gauge being attached to a side surface of the vertical beam facing in a circumferential direction, so as to be able to detect a strain generated in the vertical beam in a longitudinal axis direction thereof.