PURPOSE: To execute exactly evaluation and calibration of a force sensor by constituting the force sensor so that an external force is applied separately in accordance with total six elements, respectively, consisting of three elements of force and three elements of a moment.

CONSTITUTION: A force transfer means to a force sensor is connected to the force sensor through a shaft supported by a frame, a pulley fitted to these shaft, and a projection provided on a disk, and constituted of a rope extended to an optional pulley, and a weight hanged on its tip. When a load Fx of Fy is applied to the force sensor, and when a load Fz is applied, an output is generated from strain gauges 14W17, and strain gauges 10W13, respectively. Also, when a load Mx is applied, when a load My is applied, and when a load Mz is applied, an output is generated from the strain gauges 11, 13, the strain gauges 10, 12 and the strain gauges 14W17, respectively. In this way, the output appears in only the strain gauge corresponding to the load, and evaluation and calibration of the force sensor are executed exatly.