This paper proposes a novel tactile sensor using magnetic suspension that consequently working between permanent magnet and magnetic material. The objective of this research is to detect shear force for the application of robotic fingertips. We proposed a freely supportive simple structure which consist of Ni-Fe pole and permanent magnet plate. The operation principle was studied by finite element method (FEM) and ±40° of optimal operation range is obtained. In this range, the movement of magnetic field core also being inspected and promising the realization of proposed idea.