Force sensor and multiaxial force/torque sensor using the same

A force sensor, comprising:

• a ground unit that is a grounded conductor, configured to change position according to an external force, and comprising
• a flat panel module that is a conductor, and
• a protruding module that is a conductor and that protrudes from a lower surface of the flat panel module;
• a substrate positioned at a distance from the lower surface of the flat panel module, and comprising a flat panel shape and a hole through which the protruding module is inserted;
• a first electrode formed on an upper surface of the substrate and configured to generate a first capacitance with the flat panel module upon receiving power;
• and
• a second electrode formed on the substrate and configured to generate a second capacitance with the protruding module upon receiving power,
• wherein a distance between the protruding module and the second electrode is shorter than a distance between the flat panel module and the second electrode.