Lunar/planetary exploration rovers are required to travel on loose soil. In such environments, wheel sinkage and slippage easily occur and adversely affect the mobility performance of the rovers. Therefore, we need to consider the wheel-soil interaction for appropriate mobility control. However, soil characteristics of the target environment of rovers are unknown and heterogeneous. Thus, unexpected wheel sinkage and slippage occur with rovers. It is expected that such phenomena can be avoided by appropriately estimating wheel conditions. Therefore, we proposed a sensing wheel system that estimates wheel sinkage/slippage and soil reaction force/torque. Previous work focused on an online estimation method of wheel sinkage/slippage using a time-of-flight (ToF) camera; through this method, online estimates of wheel sinkage/slippage could be made. In this study, we expand the previous system in order to develop a real-time sensing function of soil reaction force/torque. The proposed system can measure the reaction forces/torques by fixing a 6-axis force/torque (F/T) sensor onto the wheel axis. Traction tests were performed under several wheel configurations and traction load conditions to validate the projected wheel forces/torques. Experimental results showed that the sensing wheel precisely measured the drawbar pull, normal force, and wheel torque in real time.