To develop stress sensors based on novel soft-MEMS approach critical to detect tactile information. The focus is on arrays of solid-state force/pressure sensors embedded in PDMS. The piezoresistive sensor will consist of five cantilever type sensing elements connected in a Wheatstone bridge configuration to measure stress and shear forces. The stress will be a direct consequence of the membrane deflection in response to an applied pressure. The design of a membrane stress sensor involves working on the thickness, geometrical dimensions of membrane, and positioning of piezo resistors on membrane to achieve optimum sensitivity. These will be investigated together with the quantitative analysis of the force distribution.