Device for sensing force and movement during an action performed by a subject, comprising: - a belt; - a first sensing module, mounted on the belt and comprising a first housing, which protrudes from the belt and, mounted on the first housing, the following elements: - a hitch, intended to be connected to a recovery component part, which exerts a recovery force on the hitch when activated by the subject when performing the rehabilitation exercise;- a first movement sensing unit, to sense 3D movement (that is in the three axes X, Y, Z); - a force sensing unit to sense the force exerted by the recovery component part upon the hitch; - a first processor, to receive movement and force data detected by the first movement sensing unit and the force sensing unit, respectively, and to generate force data applied by the subject when performing the action and data on movement direction; - a data transmission unit for example, of the Bluetooth, to wirelessly send the data generated by the first processor; and - a first battery to power the first movement sensing unit, the force sensing unit, the first processor and the data transmission unit; and - first means of closure (13, 14), to close the belt to a required dimension; characterised in that it further comprises: - a second sensing module mounted on the belt, comprising a second housing, which also protrudes from the belt, and which houses a second movement sensing unit, connected by wire or wirelessly to the first movement sensing unit to send movement data to the first processor, so that said data can be sent by the data transmission unit. - a belt; - a first sensing module, mounted on the belt and comprising a first housing, which protrudes from the belt and, mounted on the first housing, the following elements: - a hitch, intended to be connected to a recovery component part, which exerts a recovery force on the hitch when activated by the subject when performing the rehabilitation exercise;- a first movement sensing unit, to sense 3D movement (that is in the three axes X, Y, Z); - a force sensing unit to sense the force exerted by the recovery component part upon the hitch; - a first processor, to receive movement and force data detected by the first movement sensing unit and the force sensing unit, respectively, and to generate force data applied by the subject when performing the action and data on movement direction; - a data transmission unit for example, of the Bluetooth, to wirelessly send the data generated by the first processor; and - a first battery to power the first movement sensing unit, the force sensing unit, the first processor and the data transmission unit; and - a hitch, intended to be connected to a recovery component part, which exerts a recovery force on the hitch when activated by the subject when performing the rehabilitation exercise;- a first movement sensing unit, to sense 3D movement (that is in the three axes X, Y, Z); - a force sensing unit to sense the force exerted by the recovery component part upon the hitch; - a first processor, to receive movement and force data detected by the first movement sensing unit and the force sensing unit, respectively, and to generate force data applied by the subject when performing the action and data on movement direction; - a data transmission unit for example, of the Bluetooth, to wirelessly send the data generated by the first processor; and - a first battery to power the first movement sensing unit, the force sensing unit, the first processor and the data transmission unit; and - first means of closure (13, 14), to close the belt to a required dimension; - a second sensing module mounted on the belt, comprising a second housing, which also protrudes from the belt, and which houses a second movement sensing unit, connected by wire or wirelessly to the first movement sensing unit to send movement data to the first processor, so that said data can be sent by the data transmission unit.