An axial force sensor, comprising a sensing diaphragm comprising: an inner ring; an outer ring; and a connecting element connected between the inner ring and the outer ring, wherein the connecting element is more compliant in a direction of the axial force to be detected than in other loading directions; and at least two signal pairs comprising a first signal pair and a second signal pair oppositely arranged along a circumferential direction of the sensing diaphragm, each of the at least two signal pairs comprising: a signal emitter coupled to one of the inner ring and the outer ring, wherein the signal emitter is a magnet; and a signal receiver coupled to the other of the inner ring and the outer ring, wherein the signal receiver is a hall effect sensor, wherein: a magnetization direction of the magnet of the first signal pair is opposite to a magnetization direction of the magnet of the second signal pair; both the magnetization direction of the magnet of the first signal pair and the magnetization direction of the magnet of the second signal pair are perpendicular to an extending direction of the sensing diaphragm; and the hall effect sensor of each of the first signal pair and the second signal pair is spaced from the corresponding magnet in a radial direction of the sensing diaphragm. a sensing diaphragm comprising: an inner ring; an outer ring; and a connecting element connected between the inner ring and the outer ring, wherein the connecting element is more compliant in a direction of the axial force to be detected than in other loading directions; and an inner ring; an outer ring; and a connecting element connected between the inner ring and the outer ring, wherein the connecting element is more compliant in a direction of the axial force to be detected than in other loading directions; and at least two signal pairs comprising a first signal pair and a second signal pair oppositely arranged along a circumferential direction of the sensing diaphragm, each of the at least two signal pairs comprising: a signal emitter coupled to one of the inner ring and the outer ring, wherein the signal emitter is a magnet; and a signal receiver coupled to the other of the inner ring and the outer ring, wherein the signal receiver is a hall effect sensor, wherein: a magnetization direction of the magnet of the first signal pair is opposite to a magnetization direction of the magnet of the second signal pair; both the magnetization direction of the magnet of the first signal pair and the magnetization direction of the magnet of the second signal pair are perpendicular to an extending direction of the sensing diaphragm; and the hall effect sensor of each of the first signal pair and the second signal pair is spaced from the corresponding magnet in a radial direction of the sensing diaphragm. a signal emitter coupled to one of the inner ring and the outer ring, wherein the signal emitter is a magnet; and a signal receiver coupled to the other of the inner ring and the outer ring, wherein the signal receiver is a hall effect sensor, wherein: a magnetization direction of the magnet of the first signal pair is opposite to a magnetization direction of the magnet of the second signal pair; both the magnetization direction of the magnet of the first signal pair and the magnetization direction of the magnet of the second signal pair are perpendicular to an extending direction of the sensing diaphragm; and the hall effect sensor of each of the first signal pair and the second signal pair is spaced from the corresponding magnet in a radial direction of the sensing diaphragm. a magnetization direction of the magnet of the first signal pair is opposite to a magnetization direction of the magnet of the second signal pair; both the magnetization direction of the magnet of the first signal pair and the magnetization direction of the magnet of the second signal pair are perpendicular to an extending direction of the sensing diaphragm; and the hall effect sensor of each of the first signal pair and the second signal pair is spaced from the corresponding magnet in a radial direction of the sensing diaphragm.