Abstract: A system for force sensing in a robot is provided. The robot includes an end disk and a plurality of backbones coupled to the end disk. A plurality of spacer disks are dispersed along the plurality of backbones, and keep the plurality of backbones separated from one another. A base disk provides an interconnection point to a lumen, and the lumen provides a channel to an actuation device. The actuation device provides actuation of the backbones. At least one sensor measures the force being applied on one of the plurality of backbones, and a processor receives force measurements from the at least one sensor and determines the displacement of at least one of the plurality of backbones.