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Here, a static tactile sensing scheme based on a piezoelectric nanofiber membrane, prepared via the electrospinning method, is presented. When the nanofiber membrane is kept under a constant vibration, an external contact onto the membrane will attenuate its vibration. By monitoring this change in the oscillation amplitude due to the physical contact via the piezoelectrically coupled voltage from the nanofiber membrane, the strength and duration of the static contact can be determined. The proof-of-concept experiment demonstrated here shows that the realization of a static tactile sensor is possible by implementing the piezoelectric nanofiber membrane as an effective sensing element.