In this paper, a first prototype of a multifunctional tactile sensor using ionic polymer metal composites (IPMCs) is proposed, designed, and tested. Two IPMC strips are used, one as an actuator and one as a sensor, both positioned in a cantilever configuration; working together they enable the system to detect the presence of a material in contact with it and to measure its stiffness. These sensing capabilities can be exploited in various biomedical applications, such as catheterism, laparoscopy and the surgical resection of tumors. Moreover, the simple structure of the proposed tactile sensor can easily be extended to devices in which a sensing tip for exploration of the surrounding environment is required. Compared with other similar tools, the one proposed works with a very low-power supply (the order of magnitude being a few volts), it needs very simple electronics, it is very lightweight and has a low cost.