Inspired by the human synapse system, this paper proposes a robust tactile sensing system consisting of a touch sensing tip and a magnetic synapse. The proposed system has high sensitivity and a wide dynamic range. Moreover, it does not hysteresis and is operable even in water. External pressure on the touch sensing tip is transferred in the form of air pressure to the magnetic synapse, where its variation is converted into electrical signals. The proposed system demonstrated tactile capabilities over wide pressure range (0~400 kPa) without distortion and hysteresis, owing to the separation of the touching and sensing parts. The good performance of the system in heartbeat measurement from the human wrist, and satisfactory detection quality in water indicates that it has considerable potential for various applications in different environments.