Abstract: A triaxial force sensor using a hemispherical target embedded in a compliant layer such as an elastomer and having a plurality of ultrasonic transducers disposed in a plane at equal intervals about the target and vertically and laterally offset from the target. The transducers are oriented at an oblique angle to the plane, and aimed at the target in its rest position. The target is displaced by sufficient force applied to the surface of the compliant layer, which displacement alters the transit times of ultrasonic signals from the transducers which are reflected from the target. If at least three sensor units are employed non-colinearly, the six force-torque components, F.sub.x, F.sub.y, F.sub.z, M.sub.x, M.sub.y, M.sub.z, can be determined from the pulse transit times, the speed-of-sound in the compliant layer, the compressibility of the compliant layer, and the known geometry and spacing of the sensor units.