To improve the accuracy of a detection of an inclination of a pressure and sensor assembly in contact to an object in the sensor assembly including a 6-axis force sensor, without interfering with a field of view and operation.SOLUTION: A sensor assembly 100 includes a tubular housing 4, a tip end member 5 capable of contacting the object in a state in which a portion from one end of the housing 4 protrudes, a 6-axis force sensor 1 provided in the housing 4 and provided with a force point input unit 24 protruding on the tip end member 5 side, and a tip end member mounting portion 3 capable of attaching the tip end member 5 connected to the force point input unit 24 of the 6-axis force sensor 1, and the tip end member mounting portion 3 and the tip end member 5 is provided on an inner peripheral side of the housing 4 so that there is a space gap between it and the inner peripheral surface 4i of the housing 4.SELECTED DRAWING: Figure 2【課題】６軸フォースセンサを含むセンサアッセンブリにおいて、視野及び操作の邪魔にならずに、対象物への接触の圧力及びセンサアッセンブリの傾きの検出の精度を向上させる。【解決手段】筒状の筐体４と、前記筐体４の一端から一部が突出した状態で、対象物に接触可能な先端部材５と、前記筐体４内に設けられ、先端部材５側に突出している力点入力部２４が設けられた、６軸フォースセンサ１と、前記６軸フォースセンサ１の前記力点入力部２４に接続され、前記先端部材５を取り付け可能な先端部材取付部３と、を備え、前記先端部材取付部３及び前記先端部材５は、前記筐体４の内周面４ｉとの間に空間ギャップが存在するように前記筐体４の内周側に設けられることを特徴とするセンサアッセンブリ１００。【選択図】図２
