A glove containing force sensors has been built as a prototype of tactile sensor arrays to be worn on human hands and anthropomorphic robot hands. Whereas the force sensors of a prior force-sensing glove are mounted on the outside, the force sensors of this glove are mounted inside, in protective pockets; as a result of this and other design features, the present glove is more durable. The sensors, which cost only $3 apiece (2002), produce analog force readings in the range of 0 to 5 lb (0 to 22 N) at numerous locations across the hand.