The present invention relates to a load cell for sensing forces or moments with respect to an orthogonal coordinate system, the load cell comprising: a load cell body including: a rigid central member; a rigid annular ring; and a plurality of radial members extending radially and joining the central member to the annular ring; a plurality of sensing circuits, wherein each radial member includes: a first sensing circuit providing a first output signal responsive to a first force exerted between the central member and the annular ring through the corresponding radial member in a first direction; and a second sensing circuit providing a second output signal responsive to a second force exerted between the central member and the annular ring through the corresponding radial member in a second direction, wherein the second direction is substantially perpendicular to the first direction.