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We describe a low-cost 3-axis fingertip force sensor for robotic manipulation. Our design makes the most of 3D printing technology, and takes important factors such as maintainability and modification into consideration. The resulting sensor features a detachable fingertip made of 3Dprinted materials, and a cantilever mechanism that allows the detection of contact forces via three off-the-shelf, low-cost force sensors. To improve our design concept, optimization on the configuration of thedoi:10.1109/icra.2014.6907253 dblp:conf/icra/XuKT14 fatcat:vm36vneqaffibmvbotihkxfbpe