A sensor assembly for force sensing comprising: a first portion having a first and a second through hole (3, 4), a second portion having a third and fourth through hole (6, 7), the third and fourth through holes (6, 7) being positioned in correspondence to the first and second through holes (3, 4), the sensor assembly further comprising a first pin and a second pin, wherein the first pin is arranged such that it extends through the first and third through holes (3, 4) and the second pin is arranged such that it extends through the second and fourth through holes (6, 7), so as to couple the first portion to the second portion, characterized in that at least one out of the first and the second pin (8, 9) comprises at least one magneto-elastically active region that is directly or indirectly attached to or forms a part of the pin in such a manner that mechanical stress on the pin (8, 9) is transmitted to the magneto-elastically active region, the magneto-elastically active region comprising at least one magnetically polarized region such that a polarization of the polarized region becomes increasingly helically shaped as the applied stress increases; and a magnetic field sensor means arranged approximate the at least one magneto-elastically active region for outputting a signal corresponding to a stress-induced magnetic flux emanating from the magnetically polarized region, the magnetic field sensor means comprising at least one direction sensitive magnetic field sensor, which is configured for determination of a shear force in at least one direction, wherein the at least one direction sensitive magnetic field sensor is in particular arranged to have a predetermined and fixed spatial coordination with the pin, and wherein the pin (8, 9) comprising the at least one direction sensitive magnetic field sensor is at least partially hollow and the at least one direction sensitive magnetic field sensor is arranged inside the interior of the pin (8, 9), wherein the at least one out of the first and the second pin (8, 9) comprises: at least one X-direction sensitive magnetic field sensor configured to detect a force component Fx1 in a longitudinal direction X that is defined by a direction of longitudinal extension of the second portion, and/or at least one Z-direction sensitive magnetic field sensor configured to detect a force component Fz1 in a vertical direction Z, that is substantially perpendicular to the longitudinal direction X and perpendicular to the transversal direction Y of longitudinal extension of the at least one out of the first and second pin, and wherein the second pin is encompassed by the second through hole in a positive-fitted manner so that the pin is substantially rigidly fixed in the second through hole, and the fourth through hole is configured such that the second pin has one additional degree of freedom of movement within the fourth through hole. wherein the first through hole and the third through hole are configured such that they encompass the first pin in a positive-fitting manner so that the pin is substantially rigidly fixed in the first through hole and the third through hole. wherein the at least one out of the first and the second pin (8, 9) comprises: at least one X-direction sensitive magnetic field sensor configured to detect a force component Fx1 in a longitudinal direction X that is defined by a direction of longitudinal extension of the second portion, and/or at least one Z-direction sensitive magnetic field sensor configured to detect a force component Fz1 in a vertical direction Z, that is substantially perpendicular to the longitudinal direction X and perpendicular to the transversal direction Y of longitudinal extension of the at least one out of the first and second pin, and wherein the second pin is encompassed by the second through hole in a positive-fitted manner so that the pin is substantially rigidly fixed in the second through hole, and the fourth through hole is configured such that the second pin has one additional degree of freedom of movement within the fourth through hole. wherein the first through hole and the third through hole are configured such that they encompass the first pin in a positive-fitting manner so that the pin is substantially rigidly fixed in the first through hole and the third through hole.