This paper discusses a novel approach in developing a texture sensor emulating the major features of a human finger. The aim of this study is to realize precise and quantitative texture sensing. Three physical properties, roughness, softness, and friction are known to constitute texture perception of humans. The sensor is designed to measure the three specific types of information by adopting the mechanism of human texture perception. First, four features of the human finger that were focused on in designing the novel sensor are introduced. Each feature is considered to play an important role in texture perception; the existence of nails and bone, the multiple layered structure of soft tissue, the distribution of mechanoreeeptors, and the deployment of epidermal ridges. Next, detailed design of the texture sensor based on the design concept is explained, followed by evaluating experiments and analysis of the results. Finally, we conducted texture perceptive experiments of actual material using the developed sensor, thus achieving the information expected. Results show the potential of our approach.