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This paper presents the development of a force/moment sensor named COSMO-II that can be used in the intuitive robot teaching of a six axis robot. A new principle of force/moment detection is presented that uses force sensing resistor as the transducer. The function of the COSMO-II sensor is to detect the force and moment about the principal axes of the the sensor coordinate system, so that the sensor information can be used for the intuitive robot teaching. The architecture and force/moment detection principle and the developed prototype sensor are describe. The performance of the sensor is evaluated and the results are shown. The sensor architecture is simple and can be implemented at low cost.