Single-Beam, 6-axis Force/Torque Sensor

A single-beam, 6-axis force and torque (F/T) sensor, comprising:

• a first mounting adapter configured to be rigidly affixed to a first object:
• a second mounting adapter configured to be rigidly affixed to a second object;
• a single, multi-segment deformable beam connecting the first mounting adapter to the second mounting adapter, the multi-segment deformable beam comprising a plurality of beam segments, each extending in a direction orthogonal to connecting beam segment(s);
• a first pair of strain gages affixed to only one side of a first deformable beam segment and a second pair of strain gages affixed to only one side of a second deformable beam segment, wherein the first and second pairs of strain gages lie in a same plane but are oriented in orthogonal directions;
• and
• a third pair of strain gages affixed to only one side of a third deformable beam segment, wherein the third pair of strain gages lies in a plane orthogonal to that of the first and second pairs of strain gages.