Patent ID: 8359931

Claim:
A tactile sensor comprising: a plurality of shear force detection devices each including: a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other; a support film on the support body and closing the opening, the support film having flexibility; a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and an elastic layer covering the piezoelectric part and the support film; and a first direction shear force detecting part in which the straight part of the shear force detection device is provided along a first direction, and a second direction shear force detecting part in which the straight part of the shear force detection device is provided along a second direction different from the first direction.