Fully-flexible three-dimensional force tactile sensor

The invention discloses a fully-flexible three-dimensional force tactile sensor. The fully-flexible three-dimensional force tactile sensor is characterized in that in a flexible basal body and on the same plane, a resistor R5 is formed by taking a pressure sensitive element as a center, and four same stretching sensitive elements are respectively arranged in the Y-axis positive direction, the Y-axis negative direction, the X-axis positive direction and the X-axis negative direction respectively, so as to form a resistor R1, a resistor R3, a resistor R2 and a resistor R4; the resistor R1, the resistor R2, the resistor R3, the resistor R4 and the resistor R5 form a three-dimensional force tactile sensing unit which is arranged on the surface of an area to-be-detected. All three-dimensional force tactile sensing units are in an array arrangement on the surface of the area to-be-detected; flexible basal bodies are filled among the three-dimensional force tactile sensing units; the three-dimensional force tactile sensing units and the flexible basal bodies form the three-dimensional force tactile sensor. The three-dimensional force tactile sensor has the advantages of good flexibility, high precision and stable performance.