The invention discloses a piezoelectric-type flexible three-dimensional tactile sensing array and a preparation method of the same. The tactile sensing array is successively constituted of a PDMS superficial raised layer, an upper
electrode layer, a PVDF piezoelectric thin film layer, a lower
electrode layer and a PDMS flexible basal layer from top to bottom, wherein the upper and lower
electrode layers are distributed in a patterned manner, the PVDF piezoelectric thin film layer is sandwiched in the middle to form a plurality of piezoelectric capacitances, and electric charges are generated by upper and lower electrodes of the piezoelectric capacitances under effects of force; the whole array is constituted of six three-dimensional tactile sensing units which are arranged in two lines and three rows, and a spatial
resolution rate reaches 8 mm; and each three-dimensional tactile sensing unit comprises a quadrangular-
frustum-shaped raised part and four piezoelectric capacitances, external three-dimensional
contact force is transmitted by the quadrangular-
frustum-shaped raised part to the four piezoelectric capacitances, and the external three-dimensional
contact force is measured by generation of a charge combination of the four piezoelectric capacitances. The piezoelectric-type flexible three-dimensional tactile sensing array and the preparation method of the same disclosed by the invention are advantageous in that multi-dimensional force simultaneous measurement is realized, flexibility is applicable to hook face
assembly and dynamic responses are good.