In order to enable robots to accurately perceive and grasp objects, a novel type of tactile sensing unit using an iron-gallium wire as the sensitive component was designed, and a test platform was developed to evaluate the output characteristics of the sensing unit. The relationship between the output voltage and the applied static and dynamic pressure was tested. A sensor array structure was designed using the tactile sensing unit as the core; then, the sensing array was mounted on a mechanical hand, and the gripping experiment was performed.The experimental results show that the tactile sensing unit, consisting of a Fe-Ga wire with a length of 16 mm and diameter of 0.8 mm in a bias magnetic field of 1.908 kA/m and a static pressure of 2 N, can achieve an output voltage of 96 mV and a sensitivity of 48 mV/N. Under the dynamic action of 1-4 Hz frequency and 0-2 N pressure, the output curve of the sensing unit is detected to be smooth, and the sensitivity is observed to be high. The sensor array is capable of sensing multiple sets of pressure information to accurately display the force distribution of the mechanical fingers.These properties make the unit widely applicable in the field of accurate grasping and intelligent control.