In rope manipulation by a robot, the rope is frequently in a state of slipping in order to stretch it. When getting the rope information to recognize such a state, tactile sensation is more reliable than visual sensation because the camera image of the rope may not be obtained due to shielding by the robot’s own arm and humans can manipulate ropes while closing their eyes. In this study, we created a sensor sheet with a matrix of pressure sensors and wrapped it around the fingertip to implement tactile sensation on the robot. To detect the slip of the rope under tension, we observed values of the sensors and analyzed their characteristics.