The data of the three-axis force sensor which is used to characterize the change of mechanical properties in the process of human-robot interaction（ HRI） needs to be collected in real time in order to feed back to the control system. Taking into account that the sensor signals will be interfered by random noise during interaction

it will affect the accuracy and precision of the control system. Design a kind of sensor data acquisition and processing system based on operational amplifiers and STM32 microprocessor. Weak sensor signal will be sent to the STM32 analog to digital conversion（ ADC） interface after amplified and conditioned

aiming at characteristics of output signal of sensor

digital filtering of signal is carried out

and verify the algorithm of entire system. Signal analysis shows that the system effectively restrain random disturbance signal and provides stable sampling precision for control system.