The invention provides a wrist sensor. The wrist sensor comprises a support ring, a detection beam, an installation block and a detection sensing sheet. Two ends of the detection beam are fixed on the support ring. The detection sensing sheet is installed on the detection beam. The installation block is installed on the detection beam. The support ring and the installation block are installed on two different parts capable of moving. When the parts relatively move, the detection beam is deformed so as to allow the detection sensing sheet to sense the deformation of the detection beam. According to the invention, the sensor is capable of simultaneously and rapidly detecting force in the direction of each coordinate axis in an XYZ three-dimensional orthogonal coordinate system, and detecting force or torque related to at least one axis in the torque around each coordinate axis in real time.