1. A tactile sensor, comprising: a camera configured to capture images; an elastically deformable element having a front surface, a top surface, and a back surface, the top surface being arranged within view of the camera and the back surface being attached to a mounting structure; and an image processor operatively connected to the camera and configured to detect elastic deformation of the elastically deformable element in the captured images and to determine a pressure and/or a force acting on the elastically deformable element based on the detected elastic deformation.