Compared with the traditional tactile sensor, optics-based tactile sensor has a better property, less influence of environment and higher interference resistance. An optics-based tactile sensor is made of skin-like elastic material with markers inside. When a force is applied to the sensor, the elastic body deforms and the markers move. The camera captures the movements of the markers. Then the force applied on the sensor is calculated by the movements of the markers and elastic theory. The main processing chip of the processing circuit is EP4CGX30. The circuit is made of two PCBs piled together and the size of the circuit is 40×20×15mm3.