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In the key technologies driving humanoid robots to achieve high-precision operations and natural interactions, six-dimensional force sensors play an indispensable role. They can simultaneously sense forces and torques in three axial directions, providing fine force control support for robot grasping, walking, balancing, and human-robot collaboration, making them one of the core hardware components for achieving “humanoid actions” and “compliant control”.
This article will review the representative six-dimensional force sensor companies currently in the domestic market. The following rankings are not in any particular order, and if there are omissions, please feel free to supplement.
Kunwei Technology
Changzhou Kunwei Sensor Technology Co., Ltd. was established in 2018 and is a high-tech enterprise dedicated to providing high-precision tactile sensors (six-dimensional force sensors) and force control solutions. Kunwei’s six-dimensional force sensor products range from 36mm to 200mm in diameter, with a measurement range covering 30N to 20KN, applied in various fields such as drag teaching, automated testing, medical testing, sports biomechanics, safety protection, automotive testing, 3C testing, cutting and grinding, and aerospace. Based on the increasing demand for customized humanoid robots, Kunwei has launched several six-dimensional force sensors specifically for humanoid applications, featuring small size, large measurement range, strong overload capacity, increased torque range, and the ability to customize for higher precision.
Haibosen
Haibosen Technology (Shenzhen) Co., Ltd. focuses on technological innovation and exploration of high-performance industrial sensors, possessing the capability for comprehensive application of optical, mechanical, electrical, and computational technologies in sensor product development and large-scale production. It is a national high-tech enterprise and a specialized new enterprise in Shenzhen, having formed a mature product matrix in optical precision measurement, industrial 2D/3D detection, and robot force control. Its main products include 3D flash measurement sensors, 3D line spectral confocal sensors, point spectral confocal sensors, laser tool setting instruments, ultra-high-speed industrial cameras, six-dimensional force sensors, and laser needle sensors.
Lizhun Sensor
Shenzhen Lizhun Sensor Technology Co., Ltd. is a national high-tech enterprise and a specialized new enterprise in Shenzhen, dedicated to research, product development, production, sales, and service in force measurement technology. Its six-dimensional force sensors for humanoid robots can adapt to different loads and application scenarios, providing a wide measurement range. By employing hardware and software decoupling technology, it reduces interference between different measurement dimensions, improving measurement accuracy.
Junpu Intelligent
Ningbo Junpu Artificial Intelligence and Humanoid Robot Research Institute Co., Ltd. (referred to as “the Institute”) focuses on research in artificial intelligence and humanoid robot technology. The Institute’s research includes core components and sensors for mass production applications of humanoid robots, mastering the core technology chain upstream of the industry. Junpu Intelligent’s six-dimensional force sensors are compact and can be integrated into narrow spaces such as robot joints or hands; they can detect very small changes in force and torque, with a sensitivity of 0.05% F.S. (full scale).
Zhongqing Technology
Taizhou Zhongqing Technology Co., Ltd. was established in 2018 at the Taizhou Innovation Center of the Tsinghua Yangtze River Delta Research Institute, focusing on the research, manufacturing, and sales of sensitive components and sensors, especially six-dimensional force sensors. Through self-developed magnetoelectric coupling technology, the sensor accuracy has been improved to ±0.3% FS, with an overload capacity of 300%. In 2025, Steel Technology announced the completion of a strategic acquisition of Zhongqing Technology, and both parties will collaborate deeply in the fields of artificial intelligence and robotics technology.
Blue Dot Touch
Blue Dot Touch entered the six-dimensional force sensor market in 2019 and quickly rose to the top tier, with continuous increases in shipment volume over the years, surpassing European and American brands in core performance indicators. Currently, Blue Dot Touch’s core products have achieved 100% self-research and control. In 2024, benefiting from the explosive growth of the humanoid robot industry, Blue Dot Touch developed six-dimensional force sensors and joint torque sensors specifically for humanoid robots, completing mass shipments, with core customers covering leading humanoid robot companies such as Zhiyuan, Xiaomi, Zhongqing, Qianxun, Ubtech, Galaxy General, and Yushu, while also penetrating high-value-added fields such as new energy vehicles, medical, and aerospace.
Kaiwei Force
Hangzhou Kaiwei Sensor Technology Co., Ltd. (hereinafter referred to as “Kaiwei”) is a six-dimensional force sensor company focusing on the upstream core components of humanoid robots—multi-dimensional force/torque sensors. Its core products are six-dimensional force/torque sensors based on MEMS processing technology and sensing structures. In January of this year, Kairda humanoid robots completed a controlling investment in Kaiwei, further solidifying the layout of the robot industry chain.
Haozhi Electromechanical
Haozhi Electromechanical’s six-dimensional torque sensor products have been applied in the massage robot field. Relying on its accumulation in the core functional components of CNC machine tools, it has extended into the research and production of six-dimensional force sensors, possessing technical synergy advantages, rich application scenario adaptability, and customized services.
Donghua Testing
A leading domestic provider of structural mechanics performance solutions, focusing on the field of mechanical performance testing. Its six-dimensional force sensors are in the small batch trial production stage and have been sampled to Zhiyuan Robotics and Tesla, demonstrating high reliability and stability, suitable for various harsh environments.
Ke Li Sensor
A domestic leader in strain gauge sensors, with a continuous first-place market share in weighing sensors for 14 years. Its six-dimensional force sensors have linear accuracy better than 0.3% FS and crosstalk accuracy better than 2%, with parameter indicators comparable to foreign manufacturers. It has completed the development of six-dimensional force sensors suitable for humanoid robot wrists and ankles, and has sent samples to domestic collaborative robot and humanoid robot customers, entering the small batch trial production stage.
Lingyun Co., Ltd.
A listed company under the China Ordnance Industry Group, mainly engaged in lightweight safety structural components, hot-formed products, automotive pipelines, and other automotive parts, while actively laying out the robot sensor field. Its six-dimensional force sensors for humanoid robots have been successfully developed, achieving an accuracy of 0.5% FS and a response time better than 0.03 seconds, with intelligent information collection and processing capabilities. Samples have been sent to Tesla suppliers and feedback has been received.
Amperelong
Shenzhen Amperelong Technology Co., Ltd. was established in 1999 and is a national specialized new “little giant” enterprise, focusing on the research and manufacturing of intelligent sensors. Its core products include pressure sensors, oxygen sensors, temperature sensors, and torque sensors, widely used in automotive, robotics, and smart home fields. In March 2025, the company disclosed that its six-dimensional force sensors are in the sample development stage and have not yet been delivered. The technical route is based on MEMS silicon-based strain gauges and glass micro-fusion technology, which is derived from the same source as robot joint module technology, capable of real-time sensing joint torque and end force, enhancing robot safety performance and interaction accuracy.
Xinjingcheng
Shenzhen Xinjingcheng Sensor Technology Co., Ltd. was established in 2009 and is a national high-tech enterprise, focusing on the research and development of mechanical sensors, with products covering six-dimensional force sensors, torque sensors, etc. Its technical routes cover four major principles: resistive strain, capacitive, MEMS, and piezoelectric. It leads a major science and technology project in Shenzhen, developing micro six-dimensional force sensors for multi-finger dexterous hands. It is reported that in June 2025, it plans to launch MEMS six-dimensional force sensors based on micro-fusion technology, with a sensitivity 35 times that of traditional strain gauges, supporting fully automated production.
Yuli Instruments
Nanning Yuli Instruments Co., Ltd. was established in 2007 by Dr. Huang Yue, the former chief engineer of FTSS USA, focusing on multi-axis force sensors and automotive testing equipment research. Its products cover six-dimensional force sensors, joint torque sensors, etc. It is reported that in 2025, it will supply six-dimensional force sensors for the ankles of a leading foreign humanoid robot company in bulk, with products entering markets in the USA, Germany, Japan, and others.
Minxin Co., Ltd.
Minxin Co., Ltd. was established in 2007 and is a listed company in the MEMS sensor field, with core products including acoustic sensors, pressure sensors, etc., serving consumer electronics brands such as OPPO, Xiaomi, and Transsion. In 2024, it will initiate the research and development of six-dimensional force sensors and IMUs for robots, engaging in technical exchanges with leading robot manufacturers, planning applications in humanoid robot finger joints, wrists, and ankles.
Suocheng Technology
Suocheng Technology’s six-dimensional force and torque sensors are original products with independent intellectual property rights, capable of meeting the force measurement needs of humanoid robot fingertips, wrists, and ankles, with an accuracy of 0.1% FS. They adopt an elastic hinge parallel configuration force-sensitive element, achieving a non-assembled structure through integrated processing, featuring small size, good stiffness, high sensitivity, low error, and good decoupling, with real-time compensation for load gravity and inertial force, and overload protection functions.
Shenmo Technology
Beijing Shenmo Technology Co., Ltd. recently launched a rare high-precision piezoelectric six-dimensional force sensor, named “Bounce”, particularly suitable for service robots, humanoid robots, aerospace, medical, and industrial automation scenarios that require high dynamic interaction and multi-dimensional force control. This product features fast response, high stiffness, high frequency bandwidth, electromagnetic interference resistance, and wide environmental adaptability, marking Shenmo Technology’s continuous breakthroughs in intelligent sensor technology.
Hualichuang Science
Hualichuang Science (Shenzhen) Co., Ltd. was established in 2019, headquartered in Shenzhen. In April 2024, Hualichuang Science launched the world’s first millimeter-level micro six-dimensional force sensor, with a diameter of only 8.5mm, setting a new standard for micro sensors in the industry, solving the long-standing issue of force perception loss at the fingertips of humanoid robots. It is understood that Hualichuang Science’s force and torque sensors are based on optical multi-modal sensing technology, simulating the survival logic of intelligent life “perception, thinking, execution”, and have built a product system of “perception”, “perception + execution”, and “perception + decision + execution”, providing multi-level one-stop solutions for intelligent sensors, intelligent execution devices, and industry-level intelligent equipment/production lines.
Wuhan Shendong
Wuhan Shendong started with the research and production of automotive sensors, with clients including BYD, Wanjie, Dongfeng Commercial Vehicles, and other leading automotive companies. With the rapid development of the new energy vehicle market, Wuhan Shendong is exploring a “second growth curve”. By the end of 2024, the company will invest in the humanoid robot force sensor track, establishing a dedicated R&D department to tackle core technologies for six-dimensional force sensors in humanoid robots, aiming to seize the new “blue ocean” in the humanoid robot industry.
Zhongke Midian
Zhongke Midian focuses on the research, production, and sales of six-dimensional force sensors. The R&D team mainly comes from the University of Science and Technology of China and the Chinese Academy of Sciences, possessing the capability for collaborative R&D of software and hardware. Its products are at the industry-leading level in terms of comprehensive accuracy, decoupling algorithms, and other core parameters, with clients including SAIC-GM-Wuling, CRRC Group, and other well-known enterprises.
Shenyuan Intelligent
Nanjing Shenyuan Intelligent Technology Co., Ltd., founded in 2012 by Professor Dai Zhendong from Nanjing University of Aeronautics and Astronautics, is headquartered in Jiangning District, Nanjing, Jiangsu Province. The company focuses on force sensing and force measurement control, being a national leader in providing intelligent force sensing solutions and professional services, building a full-mode advantage in aerospace military, robotics, automation, and medical fields, providing competitive products and services to manufacturing clients and research institutions, with business spread across China and countries such as the USA, Germany, Denmark, and Sweden, committed to building a more efficient human-machine collaborative production and application environment, continuously promoting the development of domestic high-tech.
Jiaan Intelligent
Jiaan’s two high-performance KAANH six-dimensional force sensors can accurately measure forces and torques on the X, Y, and Z spatial coordinate axes of robots. They feature high precision, accurate force measurement, and sensitive response, with the entire series of sensors incorporating signal amplification and AD conversion circuits, capable of directly outputting decoupled six-dimensional force information. Currently, the KAANH six-dimensional force sensors have obtained multiple independent intellectual property rights and have passed testing by the National Metrology Testing Center.
(Source: Sensor Expert Network)