A high sensitive slip-tactile sensor based on pyramidal structure is proposed in order to solve the problem of small range and low sensitivity existing in research of robot skin and correlated slip-tactile sensor. The working principle of detection of three-axial force and sliding recognition of sensor is stated. The fabrication process of the proposed sensor is studied; capacitance change mechanism is also analyzed. Combination change of the overlap area

distance between the upper electrode and the lower electrode

relative dielectric constant to improve the sensitivity of the sensor both in normal and shear directions. The static characteristic experiment is carried out based on array information acquisition and processing system of STM32 MCU and AD7147-1. Sensor array is designed for robotic skin

perception experiment of slip-tactile sensor based on the Lab VIEW is carried out. Results show that the slip-tactile sensor array can realize high sensitive and stable perception in wide range

which can be used in electronic skin to realize the detection of three-axial force and the function of slip sensing.