Structure integrated forces measurement using high-precision, cost-efficient and robust one-dimensional sensors has many advantages compared to a measurement using 6 DOF forces plates or estimating forces from drives currents. Although this requires new approaches containing measurement models and strategies. Within this part of the publication the design of supporting frameworks containing force sensors as well as their deformation effects are discussed. In the second part modeling, parameterization, verification and characterization processes of sensor integration close to the TCP are specified. The third part concerns sensor integration far from the TCP.