Abstract: Embodiments of the present disclosure describe a tactile sensor comprising an elastomeric membrane having a channel formed therein, a liquid conductive material located in the channel, and electrodes electrically connected to the liquid conductive material, sufficient to form a stretchable electronic tactile sensor, wherein the stretchable electronic tactile sensor can be stretched over 50% in at least two axial directions from a resting state of the stretchable electronic tactile sensor. Embodiments further describe a method of fabricating a tactile sensor comprising providing a mold for fixing a plurality of filaments in parallel on a first plane and on a second plane; casting a curable material into the mold; curing the curable material to form a membrane; extracting the plurality of filaments from the membrane to form microfluidic channels in the membrane; and functionalizing the membrane by introducing a conductive liquid into the microfluidic channels of the membrane.