A slip sensor includes a first insulating layer, a second insulating layer, and a member configured to elastically deform in accordance with a force. A difference between a resistance value set between a given pair of electrodes associated with a given first resistive portion and a resistance value set between a given pair of electrodes associated with a given second resistive portion facing the given first resistive portion continuously varies in accordance with elastic deformation of the member that is caused by a shear force.