Abstract: A multi-contact tactile sensor including an elastically deformable interaction layer and a supporting layer, a lower surface of the interaction layer including an array of strip conductors and an upper surface of the supporting layer including an array of strip conductors that are not parallel to the array of strip conductors on the interaction layer. The interaction layer and the supporting layer are separated by a first series of rigid insulating spacers. A second series of conducting spacers is in contact with at least one of the two arrays of strip conductors. The impedance and dimensions of the spacers of the second series are determined to prevent contact at rest and enable local contact during deformation of the interaction layer between the spacers of the second series and the array of strip conductors of the layer opposite the spacers.