Despite recent advancements in physical humanrobot collaboration, measuring and distinguishing between forces applied by humans and robots remains challenging, limiting our understanding of force dynamics during collaboration. Our proposed solution addresses this gap with a low-cost, lightweight design that integrates directly at the robot endeffector level. The interface employs a three-ring mechanical structure with strategically positioned load cells and a Sarrus mechanism to constrain movement to the z-axis only, enabling tool mounting for real-world collaborative tasks such as blending or sanding operations. Validation experiments demonstrate excellent force decoupling capabilities with minimal crossinterference, achieving Weighted Root Mean Squared Errors of 0.14 N for robot-applied forces and 0.08 N for human-applied forces compared to ground truth measurements in steadystate for loads ranging from 0 N up to 23 N. The Maximum Absolute Error in these experiments is 0.33 N, confirming high measurement accuracy. This affordable and integrated solution lowers the threshold for employing decoupled force sensing in collaborative tasks, making it more accessible for investigating force dynamics and developing adaptive control strategies in both research and practical applications of physical humanrobot collaboration. ... Read more