A non-contact shape sensor and shape sensing device employing a plurality of such sensors. A non-contact shape sensor of the present invention may include a fluid-emitting sensor head that is biased toward a surface of a moving strip of material by a linear actuator. Pressurized fluid emitted from said fluid-emitting sensor head forms a cushion that causes said strip of material to remain separated from and glide over said fluid-emitting sensor head without actual contact therewith. A linear displacement sensor is associated with each non-contact shape sensor to measure the linear displacement of its fluid-emitting sensor head by said linear actuator in response to a loose section of said strip of material passing by said fluid-emitting sensor head.