Magnetic fluid has both the fluidity of liquid materials and the magnetism of solid materials, which can exist stably for a long time under the action of gravitational field and magnetic field. The unique first-order buoyancy principle of magnetic fluid makes it could suspend non-magnetic objects, whose density is higher than itself, under the action of magnetic field gradient. Based on the first-order buoyancy principle of magnetic fluid, a novel magnetic fluid tactile sensor is designed. When the contact pressure acts on the nonmagnetic point of the suspended rod, the movement of the suspended rod will cause the change of magnetic field at the Hall element. Then, the output voltage signal will change accordingly. The structure can be used for simultaneous measurement of contact pressure, surface profile and micro displacement. Compared with the traditional silicon wafer, the tactile sensor has small size and low cost. In addition, the magnetic liquid can absorb energy in the system, which can help to improve the impact resistance of the sensor system. Within the contact pressure measurement range of 0~ 0. 09 N, the measurement accuracy can reach in order of 10 -2 N. The sensitivity is 3. 34 V/ N, the linearity error is 3. 4% , the hysteresis error is 1. 4% , and the resolution is 1. 1% F. S.