An optical tactile sensor module, according to various embodiments of the present disclosure, comprises: a housing; a circuit board disposed inside the housing; an elastic part comprising a first surface making contact with an object; a plurality of markers disposed on the first surface of the elastic part; and a camera unit electrically connected to the circuit board and configured to capture movements of the markers when the object approaches the first surface of the elastic part, wherein the markers may include a first marker comprising a first color, and a second marker comprising a second color different from the first color.