A tactile sensor includes: a first sheet having at least either flexibility or elasticity; and a second sheet having at least either flexibility or elasticity and having a first surface facing the first sheet and a second surface opposite to the first surface. The second surface includes a plurality of protruding shapes. Each of the plurality of protruding shapes includes an enclosed space inside, the enclosed space being defined by the first surface of the second sheet and the first sheet. At least one first electrode pattern is disposed on the first sheet in the enclosed space of each of the plurality of protruding shapes. At least one second electrode pattern is disposed on the first surface in the enclosed space of each of the plurality of protruding shapes.