A force sensor includes a sensing element, a forced element and strain gauges. There are flexure mechanisms on the sensing element, the forced element is coupled to a free end of each of the flexure mechanisms, and each of the strain gauges is placed on an elastic portion of each of the flexure mechanisms respectively. Each of the strain gauges is provided to detect an elastic strain of the elastic portion when a forced is applied to the forced element, transmitted to the free end via the forced element and transmitted to the elastic portion via a flexure hinge of each of the flexure mechanisms.