Force sensors and devices incorporating force sensors

A force sensor comprising:

• a contact arrangement for transmitting a contact force to a force sensor assembly,
• the force sensor assembly comprising:
• a first sensor sensing, and producing an output from, a normal contact force component of the contact force;
• a body moveable on transmission of the contact force to the force sensor assembly;
• and
• a second sensor for sensing, and producing an output from, a relative displacement of the body relative to the second sensor, a tri-axis contact force being determined from the relative displacement,
• wherein the body comprises a magnet and the second sensor is one or more Hall effect sensors, and
• wherein the force sensor forms a multi-layer structure with a top layer comprising the contact arrangement, second layer and a first layer between the top layer and second layer, the first layer and second layer comprising respectively different ones of the first sensor and second sensor, wherein the second sensor is in the second layer.