Force sensing device, force sensing method and equipment

A force sensing device comprises a rigid structure (10) and force sensors (R1, R2, R3, R4), the rigid structure (10) comprises rigid blocks (11) arranged at intervals, a strain amplification area (12) is formed between every two adjacent rigid blocks (11), every two of the four force sensors (R1, R2, R3, R4) form a group, and the two groups of force sensors are selectively and correspondingly arranged on two mounting surfaces of the strain amplification areas (12). And the four force sensors (R1, R2, R3 and R4) are connected to form different bridge circuits. During use, the rigid structure (10) is attached to a detected object, and different bridge circuits are electrically connected to the signal processing circuit, so that the deformation of the rigid structure (10) in different directions is detected respectively, and the acting force of the detected object in the corresponding direction is obtained. The force sensing device is of an integrated structure and is easy to install, simple in circuit and low i