The recent introduction of robotic devices in human life made clear the necessity for robots to interface more efficiently with the environment, and for this purpose tactile sensing has developed. It consists in the integration of the sense of touch in robotic application. This project consist into developing a tactile sensor network to be integrated in an autonomous robot for grapes harvesting. In particular, the network is developed by starting from a first prototype of the end effector, that is a robotic hand, to be embedded on it. In this thesis is presented an excursus of the develop process starting from the choice of the sensor typology among all the possibilities described in the first part.