This paper is a study on the development of a tactile sensor system for reading Braille. The tactile sensor uses a PVDF (Polyvinylidene Fluoride) film as the sensory material. The sensor is attached onto a mechanical slider and is slid over Braille to obtain the output. The effects of the speed and the contact depth are focused on, and the measurements are discussed. Subsequently, the method that can recognize Braille regardless of the effects is proposed. In an experimental verification, the sensor system is examined whether it has performance to recognize Braille appropriately. The obtained result shows that the proposed system is effective to recognize Braille regardless of the speed and the contact depth.