Abstract: A tactile sensor in which the sensor elements are discrete, elastomeric, electrically conductive, electrically force-sensitive forcel units electrically insulated from one another, each forcel unit defining a local force-resolution region (forcel) for resolving a deflection pattern in the surface of the sensor, each sensor element being connected between a pair of electrical channels which produce a set of signals representative of the deflection pattern in the surface; a sensing system for determining a parameter of an object being contacted by the tactile sensor; and a method of fabricating the sensor.