Abstract: A method of making modular micro-optical systems of great flexibility and adaptability. A substrate is formed with a relief pattern, optical components such as optical fibers are added, another relief pattern is formed, partially through the optical components, and additional components are added, some coupling with the first components. A third relief pattern is formed, further modifying the substrate surface and the optical components already mounted, and further optical components are added, whereby optical signals can be coupled, modulated, transmitted, detected and switched, among others. The method can be employed to form tactile sensors which may be used with robotic manipulators.