Modern force/torque sensors measure both forces and torques in all three spatial directions and are available with almost any value range. The accuracy is usually in the per mil range of the maximum measured value. The sampling rates of the sensors are in the range of about 1 kHz. An extension of the 6-axis force/torque sensors are 12- and 18-axis sensors which, in addition to the six force or torque components, are also capable of measuring six velocity and acceleration components each.