DLR skin: a 5x5 highly sensitive touch sensor shows tactile properties close to that of the human skin. At DLR different generations of tactile sensors, have been investigated during the SENSOPAC project. The sensing principle of the first generation is based on the formation of conductive pathways in piezo-resisitve flexible materials. If pressure is applied to such materials the volume resistivity decreases. To enable the utilisation as tactile sensors sensitive areas, so called taxels have to be created. The first generation uses metal readout wires to connect the taxels. One of the major goals was the reduction of the number of readout wires to enable the integration of the tactile sensor into robotic hands.