PROBLEM TO BE SOLVED: To provide a 6-axial-force sensor capable of measuring without interference among translation forces in axial direction.
SOLUTION: A measuring part (1) of the 6-axial-force sensor comprises a strain part (4) where a ball (3) is provided at a tip of a rod (2), and detecting parts (5, 6, and 7) which, point-contacting to the ball (3), are provided in three axial directions, orthogonal each other. The strain part (4) deforms under a load, and a stress due to the deformation is transmitted to each of detecting parts (5, 6, and 7). The detecting parts (5, 6, and 7) are provided with a strain gauge to measure a strain in each axial direction. An electric signal of each strain gauge which is caused by a stress transmitted to the strain gauge is converted, to output a translation force in each axial direction. A momentum around each axis is calculated using the translation force and a distance from a center of axis, to measure 6-axial-force.