This study concerns with the development of a sensor for measuring human skin conditions. PVDF film is used as a sensory receptor and the sensor is driven by stepping motor. Measurement is carried out while the sensor is rotated on the surface of the skin. For the investigation of the sensor output, two strain gauges are attached to the rotation axis in order to monitor the torque. The measurement samples are fabricated from rubber matrix. The torque and induced voltage of PVDF film are compared. The results show that the times of reaching the maximum are approximately equal. Furthermore it is confirmed that this sensor is effective for the evaluation of roughness and softness.