Rodents and pinnipeds use their tactile sense as the primary modes for localization and foraging. In this thesis, we have designed, fabricated, and analyzed a rodent whisker-inspired tactile sensor using Semmes-Weinstein Monofilament (SWMF). SWMF is an inexpensive, lightweight, and readily available material that generates stable and reproducible buckling stresses. The sensor was fabricated using a combination of micro-machining and 3D printing techniques. It can measure the force and vibration resulting from contact with an oscillating system from the deflection of whiskers. We have designed the sensor to be compliant with young’s modulus, similar to that of real whiskers, to minimize the risk of damage while bending. It has a transverse force sensing resolution of 0.4 mN and a range of 10 mN. The spatial resolution of the sensor is 0.04 mm × 0.04 mm, and a range of 20 mm. We also investigated the feasibility of using this sensor as a contact-based vibrometer. Our results show that the sensor can be used for contact-based vibration analysis without changing the natural frequency response of the system under test. The sensor is also well-suited for applications such as measuring contact forces, robotic exploration, and pulse monitoring.