As robots evolve to resemble humans more closely, it’s crucial for a robotic hand to function like a human hand. Achieving touch sensitivity in a robotic finger is particularly challenging due to the compact size and shape required. Traditional technologies that provide touch feedback often lead to noticeable bulges on each fingertip. Our 6-axis Force Sensor, with a diameter of just 9.6 mm, integrates seamlessly into a robotic finger. This sensor can measure forces and torques across three orthogonal axes, enabling humanoid robots to experience touch and feel in a way that closely mimics human sensation. The sensor offers detailed feedback, from force and friction sensitivity to torque measurements. These capabilities allow the robot to detect when an object is slipping during a grip, even without visual input.