A displacement sensor element and a haptic sensor arrangement using two or more displacement sensor elements are provided. The arrangements can be used for real-time capture of the shape of haptic deformation of the sensor arrangement. Although examples described in detail herein are primarily directed to tactile applications, the sensor can be used in the machine, robotic and medical fields where a sensor of this type can usefully be applied where only machine or computer controlled robotic elements are interacting, particularly if the machines or robotic elements are being used in human like applications but other force measurement applications are possible.