Robot assisted surgery has become a popular procedure in American. However, gripping force is not measured and force feedback system has not been established. Therefore there is a need for sensors capable of measuring the gripping force. In this study, three axis load measurement sensor to be mounted on forceps tip was developed. From the simulation, the effect of the taper angle on the load measurements was revealed. Taper angle θ=π/4rad is the most suitable angle for measurement of normal and shearing load. As a result, measuring normal load applied to each zone, this sensor can calculate normal load and shearing load.