This chapter reviews the current state of the art in flexible tactile force and pressure sensing within the specific context of dexterous in-hand manipulation, taking into account the specific context of multi-digital dexterous manipulation, in comparison to grasping. It focuses on models describing human hand activity and movements. The chapter defines a set of functional and technical specifications on a robotic multi-digital tactile sensor system. It describes the design process of an example of a tactile system. The chapter further illustrates a tri-axial force microsensor array and its integration into an artificial touch system for use in discriminating and estimating tactile surface parameters. It finally presents a highly sensitive tactile 3D force sensor solution, the "Nail" sensor, for texture recognition and artificial touch system.