Disclosed is a tactile sensory system consisting of set of sensors that work by measuring impedance among plurality of electrodes. The electrodes are deployed on a substantially rigid structure that is protected form the direct contact with external objects by overlying deformable structures. These mechanical structures have similarities to the biological relationships among the distal phalanx, overlying finger pulp and covering skin and nail. Signal information is extracted form these sensors that is related to canonical physical representations used to describe stimuli to be sensed.