Abstract: Disclosed is a tactile sensing device, including a light source, a plurality of optical waveguides, photoelectric sensing components, and a contact point. The light source is disposed at an input end of each optical waveguide, and the photoelectric sensing component is disposed at an output end of each optical waveguide. The plurality of optical waveguides surround the contact point, and the contact point is in contact with each optical waveguide. When there is a contact force at the contact point, the plurality of optical waveguides are deformed, and deformations of the optical waveguides cause losses of optical signals transmitted in the optical waveguides. The photoelectric sensing component obtains an optical signal transmitted by each optical waveguide, and may detect a value and a direction of the contact force based on a variation of the optical signal transmitted by each optical waveguide.