In order to decrease the additional moment caused by the height dimension of the six-dimensional F/T sensors, a novel thin six-dimensional F/T sensor with its height dimension below 15 mm was designed based on strain measurement with FEA, SDO, and ANN methods. Nonlinear decoupling and calibration of the sensor was performed to increase the performance of the sensor. The results of the calibration experiment show that the developed sensor possesses high performances and the design and optimization are rational, and its maximum nonlinearity error and the maximum coupling error are 0.15%F.S. and 1.6%F.S. respectively.