JAPERA (Japan Advanced Printed Electronics Technology Research Association) has developed a basic technology to create OTFT array with all printing. In accordance with the requirements of each component, various printing methods including inkjet are used selectively to realize a high-precision flexible pressure sensor array by full printing. A high resolution active matrix type pressure sensor was made on the film base material and the sensor surface was covered with a thin rubber sheet with the same thickness as the sensor pitch. In this research, we apply our printed flexible pressure sensor to robot skins and show examples of tactile judgment and two-way communication at high speed by using obtained pressure distribution.