--We introduce CoinFT, a capacitive 6-axis force / torque (F / T) sensor that is compact, light, low-cost, and robust with an average mean-squared error of 0.11 N for force and 0.84 mNm for moment when the input ranges from 0 10 N and 0 4 N in normal and shear directions, respectively. CoinFT is a stack of two rigid PCBs with comb-shaped electrodes connected by an array of silicone rubber pillars. The microcontroller interrogates the electrodes in different subsets in order to enhance sensitivity for measuring 6-axis F / T . The combination of desirable features of CoinFT enables various contact-rich robot interactions at a scale, across different embodiment domains including drones, robot end-effectors, and wearable haptic devices. We demonstrate the utility of CoinFT on drones by performing an attitude-based force control to perform tasks that require careful contact force modulation. RECISE force and torque measurement is vital for robots to perform contact-rich tasks safely and effectively. Tasks such as table wiping [1], assembly [2], or palpating soft tissue [3] require the application of force and torque within a specific range--sufficient to complete the task but not so excessive as to cause damage or waste energy. Depending on the application and interaction type, robots performing contact-rich tasks come in various forms, including robotic arms [4], grippers [5], drones [6], and wearable devices [7]. Therefore, equipping these diverse robotic platforms with sensors that can accurately measure force and torque is essential. Extensive research has been dedicated to developing 6-axis force / torque (F / T) sensors using various transduction methods [8]. Commercially available sensors also exist, such as the Gamma (A TI Industries), and 6-axis F / T sensors from MinebeaMitsumi or ReSense.