The acquisition of flexible tactile perception information is the key feedback of soft bionic manipulator to achieve autonomous control. The information of interaction force and surface characteristics is provided, which is generated between the bionic manipulator and grasping contact point. In recent years, although the flexible tactile sensing method applied to software manipulator has made some progress in sensitive materials, structural design, preparation methods and signal acquisition and analysis, there are some problems that limit the application and development of the technology. In view of this, this paper sorts out the concept and connotation of flexible tactile sensing technology for software bionic manipulator, and its related parameters and design principles are systematically analyzed. The design ideas, performance and applications of flexible tactile sensors with different structures are summarized, classified and discussed. Finally, the discussion and the prospect of development for the flexible tactile sensor for soft bionic manipulator are presented in the conclusion.