Abstract: For the large-scale space manipulator, a 12-DOF (degree of freedom) sensor is designed, which consists of a 6-dimensional acceleration sensor and a 6-dimensional force/torque sensor. The high-speed multi-channel data acquisition system based on FPGA (field-programmable gate array) is integrated. The least squares method and the static and dynamic calibration method are adopted to calibrate torque and acceleration sensors respectively. The designed sensors have the advantages of small dimension coupling, high integration, easy assembly and high reliability. Finally, the 12-DOF sensor is installed on the end of a large-scale manipulator, and the residual vibration suppression experiment is carried out. The experimental results show that the inertia force is compensated and the residual vibration of the manipulator is restrained effectively according to the acceleration information from the designed 12-DOF sensor. The designed sensor is reasonable and feasible.