Tactile　sensors　of　comprehensive　functions　are　urgently　needed　for　the　advanced　robot　to　co-exist　and　co-operate　with　human　beings.　Pneumatic　tactile　sensors　based　on　air　bladder　possess　some　noticeable　advantages　for　human-robot　interaction　application.　In　this　paper,　we　construct　a　pneumatic　tactile　sensor　and　apply　it　on　the　fingertip　of　robot　hand　to　realize　the　sensing　of　force,　vibration　and　slippage　via　the　change　of　the　pressure　of　the　air　bladder,　and　we　utilize　the　sensor　to　perceive　the　object＇s　features　such　as　softness　and　roughness.　The　pneumatic　tactile　sensor　has　good　linearity,　repeatability　and　low　hysteresis　and　both　its　size　and　sensing　range　can　be　customized　by　using　different　material　as　well　as　different　thicknesses　of　the　air　bladder.　It　is　also　simple　and　cheap　to　fabricate.　Therefore,　the　pneumatic　tactile　sensor　is　suitable　for　the　application　of　co-operative　robots　and　can　be　widely　utilized　to　improve　the　performance　of　service　robots.　We　can　apply　it　to　the　fingertip　of　the　robot　to　endow　the　robotic　hand　with　the　ability　to　co-operate　with　humans　and　handle　the　fragile　objects　because　of　the　inherent　compliance　of　the　air　bladder.