In this paper, we report on the design, fabrication, testing, and modeling of a novel membrane-type polyvinylidene fluoride (PVDF) tactile sensor. The designed assembly consists of a single film of PVDF sensor, which is held between two 12-mm-thick flat Plexiglas plates, each with a 90-mm-diameter center hole. Three rectangular-shaped aluminum electrodes, each 2 mm wide, formed a triangle in the central region of the PVDF film. Using a geometrical mapping process and by applying force at various points on the sensor surface, the loci of the isocharge contours for the three sensing elements are obtained. It is found that the variation in output charge is inversely proportional to the distance from the sensing element and that the exponent for this function is in the range of 0.58–1. Finite element modeling is used to obtain the stress generated in the membrane and to form a basis for the comparison between experimental results and the results of theoretical analysis. There is a good correlation between the theoretical predictions and the experimental data. The designed sensor can be potentially integrated with a medical probe in order to provide tactile mapping.