To　achieve　uninterrupted　detection　of　position　contacting　with　robot　environment,　this　paper　proposes　a　new　type　of　tactile　sensor.　The　sensor　was　developed　with　the　principle　of　distributed　planar　electric　field　based　on　the　uniqueness　of　steady　electric　field.　The　coordinate　of　contact　position　can　be　obtained　from　the　potential　value　distributed　on　the　planar　electric　field.　The　tactile　sensor　has　a　non-array　structure,　and　consists　of　two　conductive　layers,　an　insulating　layer　and　two　viscoelastic　layers.　The　feasibility　was　verified　by　the　finite　element　simulation　with　COMSOL　software　and　the　sensor　sample　fabrication.　The　robot　application　experiments　on　an　industrial　robot　arm　with　six　degrees　of　freedom　shows　that　the　sensor　has　good　accuracy　of　position　detection　and　high　space　resolution.　The　sensor　is　thin　and　soft,　easy　to　make　and　use,　and　has　only　4　wires.　Signal　processing　is　also　simple.　It　is　capable　of　covering　large　areas　of　robot　arms,　and　provides　safety　solutions　for　most　robots.　(C)　2016　Elsevier　B.V.　All　rights　reserved.