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Some patients cannot use their hands because their fingers are paralysed. Their fingers can recover with rehabilitative training and the extent of rehabilitation can be judged by grasping a spherical object with their fingers. This study looks at the development of a six-axis force/moment sensor and a spherical-type finger force measuring system with it which can measure grasping force. The six-axis force/moment sensor was designed and fabricated and a high-speed force measuring device was designed and manufactured by using digital signal processing. Also, the characteristic tests of the developed six-axis force/moment sensor and the spherical-type finger force measuring system were carried out. The tests confirm that the developed six-axis force/moment sensor is very good in interference error, and it can be used for the spherical-type finger force measuring system.