An apparatus measuring changes of various forces directly and continuously was developed by a way of direct touch between powders and transmitting force component, which can be used to study forces state of powders during warm compaction. Using the apparatus, warm compaction processes of iron-based powder materials containing different lubricants at different temperatures were studied. Results show that densification of the iron-based powder materials can be divided into four stages, in which powder movement changes from robustness to weakness, while its degree of plastic deformation changes from weakness to robustness.