This paper proposes a 7 DOF force-torque (F/T) sensor with 16 strain gauges for the master device with a pinching capability. It is necessary to measure the force and torque at the master device to render high-fidelity haptic feedback. The sensor is designed to measure 7 DOF force and torque and guarantee its durability. Aluminum alloy 6061 is used to form a beam with thickness of 3mm. Performance and durability of the sensor system are verified through SolidWorks simulation.