A surgical robotic component comprising a terminal articulated wrist portion 13, the wrist comprising: a distal segment 42 having an instrument attachment, an intermediate segment, and a basal segment 21a whereby the wrist is attached to the remainder of the surgical robotic component. The wrist further comprises a first articulation 38 about a first axis 29 between the distal segment 42 and the intermediate segment, a second articulation 28 about a second axis between the intermediate segment and the basal segment 21a. The intermediate segment comprises a universal joint having articulations 26, 27 permitting relative rotation of the distal segment and the basal segment about third and fourth axes 35, 41, a first torque sensor S1 for sensing torque about the third axis, and a second torque sensor S2 for sensing torque about the fourth axis. The first, second and third articulations may be arranged such that the first and second axes are parallel and the third and fourth axes are transverse to the first axis.
