While humans can naturally feel forces as they manipulate objects, robots need special instrumentation to provide this capability. Force and torque sensing is crucial to enable robots to perform manipulation tasks such as picking up delicate items, screwing in parts for assembly, and handling deformable objects. In this paper, I present a force sensing data acquisition system that I implemented and used with the Baxter Research Robot. I further detail how I have characterized the accuracy of these sensors and experiments I have conducted with the sensors instrumented on the robot. Finally, I describe software and algorithms to make use of the data in controlling the robot.