Some animals like geckos have evolved attachment organs that allow them to generate attractive force while negotiating their surroundings. It has been found that biological adhesion is related to the contact area. The adhesion originated from van der Waals interactions may be affected by external electric fields， including the electric field caused by triboelectrification. The triboelectrification has been confirmed in geckos， and the measurement of reaction force and real contact area is also successfully carried out. Whereas， there is no simultaneous measurement and comprehensive studies of the above three parameters because there are conflicts among the requirements of their measurement technologies. After comprehensively considering the test requirements， we develop a new sensor to measure the above three parameters at the same time. An experiment with geckos is also conducted to verify the availability and reliability of the newly developed sensor， laying an equipment foundation for future studies on biological and bio-inspired adhesion.