A novel optical 3D force and displacement sensor – Towards instrumenting the PapillArray tactile sensor

•Novel use of a pinhole camera to instrument a silicone pillar movement.•3D displacement, 3D force, and vibration of the pillar tip can be measured.•This method can be used to instrument the PapillArray tactile sensor.•Method could help detect incipient slip, and measure force/torque and friction.•Provides a novel approach to tactile sensing for dexterous robotic manipulation.