A two or three axis load cell capable of measuring axial and one or more shear forces is disclosed. The load cell can comprise a force collector connected by one or more connecting rods to one or more cross pieces. The load cell can comprise a single cross piece and can measure an axial force applied to the load cell and at least one component of shear force applied to the load cell. In other embodiments, the load cell can comprise two cross pieces, disposed at disparate angles, to enable the measurement of an axial force and both components of shear force applied to the force collector. The cross pieces are equipped with a means, such as piezoresistive elements to measure their deflection due to the applied forces on the force collector. The connecting rods can be fitted with additional piezoresistors to measure the axial forces on the force collector.