The force sensing device includes a deformable member having portions arranged to make a pair with respect to the Z-axis. Three sets of strain detecting elements are formed on the deformable member for detecting deformations of the deformable member caused by a linear force in the X-axis, a linear force in the Y-axis and a rotational force about the Z-axis. The force sensing device includes a connecting member which connects between the pair of portions of the deformable member, and between the deformable member and a shaft of a manipulatable member. The force sensing device can be manufactured with easy wiring work and can detect the applied force in three degrees of freedom, including the linear force in the X-axis, the linear force in the Y-axis and the rotational force about the Z-axis.