In extraterrestrial exploration missions, complex terrains affect the terrain traversability of planetary rovers, consequently impacting their mission completion rates. Existing methods that rely on visual perception for environmental sensing are unable to detect soft terrains, which may lead to issues such as wheel sinkage for planetary rovers. In this paper, a forward tactile perception wheel specifically for wheel-terrain contact forces detection is designed. Our approach includes mechanical structure design, decoupling methods, and component integration techniques to genuinely incorporate multi-axis sensors into the forward sensing wheel, achieving high-precision and high-reliability wheel-soil interaction detection. Experiments have demonstrated the effectiveness of the designed forward sensing wheel.