A pneumatic-based tactile sensor comprising: a tactile sense transmitting pneumatic unit for generating pneumatic pressure by an external load applied to a first side; a tactile sense receiving sensor unit for measuring the load by transforming a magnitude of pneumatic pressure of the tactile sense transmitting pneumatic unit into a displacement, the tactile sense receiving sensor unit separately disposed from the tactile sense transmitting pneumatic unit; and a tactile sense transmitting pneumatic line for connecting the tactile sense transmitting pneumatic unit and the tactile sense receiving sensor unit so as to transmit the pneumatic pressure of the tactile sense transmitting pneumatic unit to the tactile sense receiving sensor unit, wherein the tactile sense transmitting pneumatic unit includes: a housing including an inside in which a first space is formed, a first side in which a first opening is formed, and a second side on which a pneumatic outlet is formed; and a sensing membrane made of an elastic material for closing and sealing the first opening, wherein a cross-section of the first opening is larger than a cross-section of the pneumatic outlet, and a tactile sense receiving block, for directly sensing a tactile sense load, provided on an outer side of the sensing membrane, wherein a cross-section of the tactile sense receiving block is smaller than a cross-section of the sensing membrane. a tactile sense transmitting pneumatic unit for generating pneumatic pressure by an external load applied to a first side; a tactile sense receiving sensor unit for measuring the load by transforming a magnitude of pneumatic pressure of the tactile sense transmitting pneumatic unit into a displacement, the tactile sense receiving sensor unit separately disposed from the tactile sense transmitting pneumatic unit; and a tactile sense transmitting pneumatic line for connecting the tactile sense transmitting pneumatic unit and the tactile sense receiving sensor unit so as to transmit the pneumatic pressure of the tactile sense transmitting pneumatic unit to the tactile sense receiving sensor unit, wherein the tactile sense transmitting pneumatic unit includes: a housing including an inside in which a first space is formed, a first side in which a first opening is formed, and a second side on which a pneumatic outlet is formed; and a sensing membrane made of an elastic material for closing and sealing the first opening, wherein a cross-section of the first opening is larger than a cross-section of the pneumatic outlet, and a tactile sense receiving block, for directly sensing a tactile sense load, provided on an outer side of the sensing membrane, wherein a cross-section of the tactile sense receiving block is smaller than a cross-section of the sensing membrane. a housing including an inside in which a first space is formed, a first side in which a first opening is formed, and a second side on which a pneumatic outlet is formed; and a sensing membrane made of an elastic material for closing and sealing the first opening, wherein a cross-section of the first opening is larger than a cross-section of the pneumatic outlet, and a tactile sense receiving block, for directly sensing a tactile sense load, provided on an outer side of the sensing membrane, wherein a cross-section of the tactile sense receiving block is smaller than a cross-section of the sensing membrane.