Purpose　-　The　tactile　sensor　with　array　structure　normally　has　the　defects　of　existing　nondetection　zone,　complex　and　nonstretchable　structure.　It　is　difficult　to　seamlessly　attach　to　the　surface　of　the　robot.　For　this　reason,　this　paper　proposes　a　method　to　prepare　nonarray　structure　tactile　sensor　directly　on　the　surface　of　the　robot　by　spraying　process.　Design/methodology/approach　-　Based　on　the　principle　of　gradient　potential　distribution,　the　potential　fields　are　constructed　in　two　different　directions　over　the　conductive　film　in　time-sharing.　The　potentials　at　touching　position　in　the　two　directions　are　detected　to　determine　the　coordinate　of　the　touching　point.　The　designed　tactile　sensor　based　on　this　principle　consists　of　only　three　layers.　Its　bottom　layer　is　designed　as　a　weak　conductive　film　made　of　graphite　coating　and　used　to　construct　the　potential　field.　It　can　be　sprayed　either　on　PET　substrate　or　directly　on　robot　surface.　Findings　-　The　radial　basis　function　neural　network　is　used　for　remodeling　the　potential　distribution,　which　can　effectively　solve　the　problem　of　nonlinear　potential　distribution　caused　by　irregular　sensor　shape,　and　uneven　conductivity　at　different　points　of　the　spraying　coating.　The　simulation　and　experimental　results　show　that　the　principle　of　the　proposed　tactile　sensor　used　for　touching　position　detection　is　feasible　to　be　applied　to　complex　surfaces　of　the　robot.　Originality/value　-　This　paper　proposed　a　nonarray　customizable　tactile　sensor　based　on　the　spraying　process.　The　sensor　has　a　simple　structure,　and　only　five　lead　wires　are　needed　to　realize　the　coordinate　detection　of　the　touch　position.