This invention discloses a pulse-sensing device and methods for pulse sensing. In one embodiment, the device includes a robotic finger comprising a humanoid-finger structure, and an actuating-force transferring member for transferring an actuating force to the structure at an actuation point thereon and along an actuation direction. One end of the structure is pivotally mounted to a fulcrum and another end has a sensing area. The robotic finger is configured such that, when the sensing area contacts a person's wrist, a first perpendicular distance from the fulcrum to a first line is substantially longer than a second perpendicular distance from the fulcrum to a second line, where the first line is a straight line passing through a sensing point of the sensing area and being substantially perpendicular to the sensing area, and the second line is a straight line passing through the actuation point and orienting along the actuation direction.