A　flexible　capacitive　tactile　sensor　with　micro　needle　structure　is　designed　in　this　paper　for　the　palm　and　fingers　of　the　manipulator.　The　sensor　has　better　sensitivity,　stability　and　repeatability　and　the　spatial　layout　of　the　manipulator　tactile　sensor　is　designed　in　this　paper.　The　main　raw　material　PDMS　is　prepared　to　meet　the　requirements　of　a　flexible　tactile　sensor.　The　silicon-based　MEMS　technology　is　used　to　achieve　a　tiny　micro　needle　structure.　Experimental　results　show　that　the　sensor　is　proved　to　work　well　and　able　to　guarantee　a　better　sensitivity　at　30　N　pressure.