Tactile sensor

A tactile sensor comprising:

• a sensor element;
• and
• a casing that houses the sensor element, wherein
• the sensor element includes
• a base portion including a reference surface to which a first axis and a second axis are parallel, the second axis perpendicular to the first axis;
• a contact extending axially along a third axis perpendicular to the first axis and the second axis, the contact having a contact end;
• a support body that supports the contact in a displaceable manner with respect to the base portion;
• and
• a displacement detector that detects a displacement of the contact with respect to the base portion,
• the casing includes
• a film having flexibility that covers at least the contact end among the sensor element, and
• a casing main body, wherein
• the casing main body includes
• a frame having an attaching surface on which an opening is formed, the film attached to the attaching surface;
• and
• an exterior body that covers a portion of the film other than a portion corresponding to the opening, wherein
• the portion of the film covered by the exterior body is sandwiched, in a direction of the third axis, between the frame and the exterior body,
• the opening is closed by the film,
• the contact end is arranged in the opening,
• the contact end is secured to an inner surface of the film, and
• the base portion is secured with respect to the casing main body.