An optical sensor for measuring a force distribution includes a substrate, one or more light emitting sources, and one or more detectors provided on the substrate, with the detectors responsive to the light emitted by the sources. A deformable opto-mechanical layer is also provided on the substrate with light responsive properties depending on a deformation of the opto-mechanical layer. The design of the sensor and particularly the use of optical components in a deformable layer make it possible to measure the contact force accurately, including in some embodiments, the direction of the contact force. The sensor is scalable and adaptable to complex shapes.