This book described the research carried out on the development of a novel hardwired tactile sensing system tailored for the application of a next generation of surgical robotic and clinical devices, namely a steerable endoscope with tactile feedback, and a surface plate for patient posture and balance. Two case studies are examined and presented in this book. The first is a one-dimensional sensor for the steerable endoscope retrieving shape and ¿touch¿ information. The second is a two-dimensional surface which interprets the three-dimensional motion of a contacting moving load. These cases demonstrate that the outcome of this research can be used to retrieve information from a distributive tactile sensing surface of a different configuration, and can interpret dynamic and static disturbances. This novel approach to sensing has the potential to discriminate contact and palpation in minimal invasive surgery (MIS) tools, and posture and balance in patients.