The present invention relates to a structure for attaching tactile sensors to a curved surface, comprising a sensor fixing unit configured to have at least part of one surface curved and to have a plurality of sensor insertion grooves, crossing each other, formed in the one surface in a matrix form; tactile sensor units formed in a matrix form, inserted into the respective sensor insertion grooves, and configured to detect external force; sealing units configured to seal the respective sensor insertion grooves; and a support unit configured to come in contact with one face of the sealing units or the sensor fixing units and to support the sensor fixing units. Accordingly, the tactile sensors can be easily attached to a curved surface, and mass production is possible.