Flexible devices can conformally cover any surfaces and interact with different stimuli such as human touch. Although a flexible tactile sensor has been reported as an artificial skin application, distinguishing between a tactile force and strain due to substrate bending remains challenging. Here we report a highly selective tactile force sensor against bending on the basis of strain engineering by fabricating a cantilever structure. The proposed device achieves a 4–23 times improvement in selectivity compared to conventional pressure sensitive rubber. As a proof-of-concept for e-skin, an array composed of highly selective tactile force sensors and temperature sensors is successfully demonstrated to imitate human skin.