We proposed a method to measure the shapes of objects with shear stress sensors comprising cantilevers are arrayed in line and covered by silicon rubber. Our sensor system offers the detection of concavo-convex shapes by scanning the surface of the object once. In the detection experiment, we observed the minimum width of convex shape was 3 mm, and the minimum gap of concave shape was 17 mm. In addition, we demonstrated that various types of object shapes were detected by this method.