Aiming at the 6 DOF robotic arm joint torque sensor, in order to extract the torque signal of the robotic arm joint effectively, a signal extraction method suitable for the uniaxial axis torque sensor was proposed. By designing a signal conditioning circuit, the torque signal was collected, the weak signal output by the bridge was amplified, and the effect of synchronous temperature drift on the signal output was reduced to solve the zero offset problem of the circuit. The performance indicators of the torque measurement sensor and the relationship between the torque of each joint and the output voltage were obtained by the calibration experiment of the torque measurement sensor. Through experiment, the reliability of measuring torque with the double full bridge circuit was verified.