This study focuses on fault perception technology in the inspection operation of secondary equipment in substations. By simulating human touch and utilizing tactile force analysis technology, the adaptive grasping ability of the operating robot is improved. The core of the research lies in the piezoelectric effect, which refers to the phenomenon of piezoelectric materials generating charges under mechanical stress. This characteristic makes piezoelectric materials an ideal choice for machine tactile sensors. In the research, the perception of external physical stimuli was achieved through signal acquisition, processing, and tactile judgment generation. The substation inspection operation includes device panel inspection, tool grasping and operation, equipment status recognition, and safety operation. This article equates the operation button to an elastic body, analyzes the contact area and pressure changes through the Hertz contact model, and evaluates the reliability of the contact surface and the fault state of the button. The experiment uses Tac3D sensors to simulate human finger touch and pressure, and monitors pressure and deformation changes through a 3D displacement field, effectively identifying normal and faulty buttons. The research results indicate that the changes in pressure amplitude and force area can truly reflect the characteristics of the button, and the analysis of the force curve can also identify faulty buttons, which has important engineering practical value.