A touch sensing method, comprising: detecting a touch detection signal sent by a stylus (S601); determining a touch position of the stylus on a touch screen when the touch detection signal sent by the stylus is detected (S602); determining whether a force detection module in the stylus generates force characteristic data (S603); determining whether a strength threshold of the touch detection signal at the touch position is acquired (S604A, S604B), the strength threshold of the touch detection signal is set or recorded according to a strength of a touch detection signal detected when the force characteristic data applied by the stylus to the touch screen is detected prior to the current time; recording and setting the strength of the detected touch detection signal at the touch position as the strength threshold (S607A) and responding to the touch operation by the stylus on the touch screen (S606) when it is determined that a force detection module in the stylus generates the force characteristic data and the strength threshold of the touch detection signal at the touch position is not acquired; and determining whether the strength threshold of the touch detection signal at the touch position is reached (S605A) when it is determined that the force detection module in the stylus does not generate the force characteristic data and the strength threshold of the detected touch detection signal is acquired, and responding to the touch operation by the stylus on the touch screen (S606) when it is determined that the strength threshold of the touch detection signal at the touch position is reached. detecting a touch detection signal sent by a stylus (S601); determining a touch position of the stylus on a touch screen when the touch detection signal sent by the stylus is detected (S602); determining whether a force detection module in the stylus generates force characteristic data (S603); determining whether a strength threshold of the touch detection signal at the touch position is acquired (S604A, S604B), the strength threshold of the touch detection signal is set or recorded according to a strength of a touch detection signal detected when the force characteristic data applied by the stylus to the touch screen is detected prior to the current time; recording and setting the strength of the detected touch detection signal at the touch position as the strength threshold (S607A) and responding to the touch operation by the stylus on the touch screen (S606) when it is determined that a force detection module in the stylus generates the force characteristic data and the strength threshold of the touch detection signal at the touch position is not acquired; and determining whether the strength threshold of the touch detection signal at the touch position is reached (S605A) when it is determined that the force detection module in the stylus does not generate the force characteristic data and the strength threshold of the detected touch detection signal is acquired, and responding to the touch operation by the stylus on the touch screen (S606) when it is determined that the strength threshold of the touch detection signal at the touch position is reached. <EOS>