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Abstract The mechanoreceptors of the human tactile sensory system contribute to natural grasping manipulations in everyday life. However, in the case of robot systems, attempts to emulate humans’ dexterity are still limited by tactile sensory feedback. In this work, a soft optical lightguide is applied as an afferent nerve fiber in a tactile sensory system. A skin‐like soft silicone material is combined with a bristle friction model, which is capable of fast and easy fabrication. Due to this novel design, the soft sensor can provide not only normal force (up to 5 Newtons) but also lateral force information generated by stick‐slip processes. Through a static force test and slip motion test, its ability to measure normal forces and to detect stick‐slip events is demonstrated. Finally, using a robotic gripper, real‐time control applications are investigated where the sensor helps the gripper apply sufficient force to grasp objects without slipping.