Force/torque sensor

A transducer, usually mounted between the robot wrist and the end effector, that measures the forces and torques acting on the tool, commonly along three force and three torque axes. The signal enables compliant behaviors such as guarded insertion, surface finishing with controlled contact force, part-presence verification, and hand guiding. Some arms integrate joint torque sensing instead of or in addition to a wrist sensor to achieve similar contact-aware control.