We have measured force of various size and various hierarchical level biological samples. For example, at the cellular level and tissue level, we measured mechanical properties and contractile force of cell sheet and three dimensional tissues for evaluation of regenerative medicine. At the organ level, the contractile force of insect heart tissues was measured for application of bioactuator. Additionally, at the individual level, leg oaring force of water strider also measured for revealing mechanism of water repellency by surface micro-structures.For measuring force of various sizes and various hierarchical level biological samples, we developed force measurement systems and fixtures which could connect biological samples to the system. Especially, the fixture is the most important component at the force measurement since difficulties of sure fixation of biological samples. In this talk we'll explain about biological force measurement which used developed force measurement systems and special fixtures.