The invention relates to a sensor for the quantitative measurement of the feel of a surface, comprising a prehensile envelope, a hollow contact body for bringing into contact with the surface on a sensing zone, first acoustic detection elements to detect noises emitted by the hollow body on contact with the sensing zone, second mechanical detection elements embodied for measurement of the normal pressure or the normal pressure and the rubbing force exerted by the surface on the hollow body. The above is of application in the measurement of the triboacoustic properties of the skin or phanera, textiles, leather, plastic materials or any other material for which the an appreciation of the feel thereof is important.