A polymer-waveguide-based transparent and flexible force sensor array is proposed, which satisfies the principal requirements for a tactile sensor working on curvilinear surfaces, such as thinfilm architecture (thickness < 150 mu m), localized force sensing (ca. 0-3 N), multiple-point recognition (27 points), bending robustness (10.8% degradation at R = 1.5 mm), and fast response (bandwidth > 16 Hz).