We　report　the　first　attempt　to　model　the　contacts　of　an　ionic　polymer　metal　composite　(IPMC)　based　tactile　sensor.　The　tactile　sensor　comprises　an　IPMC　actuator,　an　IPMC　sensor　and　the　target　to　be　detected.　The　system　makes　use　of　multiple　contacts　to　work:　the　actuator　comes　into　contact　with　the　sensor　and　pushes　the　movement　of　sensor;　the　contact　between　the　sensor　and　the　object　detects　the　existence　and　the　stiffness　of　the　target.　We　integrate　modeling　of　various　physical　processes　involved　in　IPMC　devices　to　form　a　simulation　scheme.　An　iteration　and　optimization　strategy　is　also　described　to　correlate　the　experimental　and　simulation　results　of　an　IPMC　bending　actuator　to　identify　the　two　key　parameters　used　in　electromechanical　transduction.　Modeling　the　multiple　contacts　will　aid　the　design　and　optimization　of　such　IPMC　based　soft　robotics.