A surgical robotic component comprising an articulated terminal portion the terminal portion comprising: a distal segment having an attachment connected thereto an intermediate segment and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis and a second articulation between the intermediate segment and the basal segment the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis. The intermediate segment comprises: a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes a first torque sensor for sensing torque about the third axis and a second torque sensor for sensing torque about the fourth axis.
