To provide a tactile sensor which has simple structure and which, like a human finger, can simultaneously recognizing surface hardness and surface roughness of an object by stroking the object, and to provide a surface form measurement system using the same, and a surface form measurement method.

A polymer piezoelectric film, a first electric signal line provided from the polymer piezoelectric film, a non-conductive elastic member 2 for coating the polymer piezoelectric film and a connection part of the polymer piezoelectric film with the first electric signal line, a substrate 4 for fixing the elastic member, a strain gauge 3 installed on a part of the substrate 4, and a second electric signal line provided from the strain gauge 3 are provided.