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Miniaturized force/torque sensors are relevant components for robotic interaction with humans and unknown environments. This paper presents a disruptive manufacturing process for multiaxial force/torque sensors based on a Stewart-Gough platform. The deformation element consists of a hexapod geometry with six sensing elements with a total diameter of 9 mm. The sensor manufacturing process is divided into three steps: 1. Milling a planar arrangement of sensing elements out of a 2 mm steel (1.4301) plate, 2. applying twelve strain gauges in half-bridge configuration and 3. rolling the elements into a hexapod structure. The dimensions of the sensing elements are scalable to adjust the size and nominal measurement range of the sensor. The first prototype has a measuring range of 4 N and 66 mNm. The characterization of the sensor shows a maximal linearity and hysteresis error of 1.16 % and a cross-sensitivity smaller than 2.76 %. Keywords

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