In this paper, an active sensor system using parallel processing circuits is proposed and its characteristics are discussed. From the perspective of a model of active touch sensory processing mechanism, the system uses information of efferent copy and internal actuator model in order to generate active motions from the local pattern information detected by local pattern sensors, such as tactile sensors. In addition, an experimental system and its basic experimental results are described. The experimental system is a sensor system for active perception of the shape of two-dimensional objects by tracing the edge of the objects. The system realizes both high speed processing of the local pattern and real-time control of the actuator.