A tactile and proximity sensor includes a light source, a light receiving section, and a cover. The light source emits light. The light receiving section receives light and generates a signal providing a result of the received light. The cover includes an elastic body that deforms under external force and that covers the light source and the light receiving section. The cover includes a reflective section that reflects light between the light source and the light receiving section and a transmission section that allows light to pass through in a first direction from the light source and that allows light to pass through in a second direction from the light receiving section.