engineering applications, normal and shear force components are generated between the tactile sensor and the object when sensing the object's motion. [2] To extract the required data, the tactile sensor should have a good dynamic response to track oscillatory variations of normal and shear forces in real-time. Recently, sensors have been developed to detect the shear force. According to the detection principle, tactile sensors can be mainly divided into capacitive, [3][4][5] piezoresistive, [6,7] triboelectric, [8,9] and piezoelectric [10] sensors. In addition to the single sensing method, tactile sensors can also be combined with different sensing mechanisms. Accordingly, multimethod sensors such as piezoelectric-piezoresistive sensors [11] and capacitance-triboelectric sensors [12] have been proposed. Piezoresistive sensors, transduce pressure stimulate into electric signal. Considering the remarkable advantages of these sensors such as simple sensing mechanism, simple structure, and low power consumption, they have been widely used in diverse industries. [13] However, hysteresis, slip and force vectors are rarely reported and the root cause of hysteresis has not yet been investigated. Studies show that capacitive sensors have high strain sensitivity, and low power consumption, and are compatible with the static force measurement. [14] However, further investigations reveal that reducing the pixel size of these devices reduces the capacitance and the signal-to-noise ratio of the sensor. Considering the influence of fringe capacitance on the performance, these sensors are susceptible to external interference so their output characteristics are usually nonlinear. [15] Recently, self-powered triboelectric nanogenerators (TENGs) have been proposed as a promising technique with outstanding features and promising performance such as high flexibility, light weight, and high sensitivity even under mechanical stimuli of tiny amplitudes. Moreover, continuous friction may cause undesired wear and tear, thereby affecting the stability of the device during long-term operations. In the laboratory, the reproducibility and interchangeability of a single triboelectric device are limited by manual operations, which hinders largescale manufacturing and increases fabrication costs. [16] It is worth noting that although self-powered piezoelectric materials have superior characteristics such as high flexibility, light weight, and biocompatibility, they have relatively low energy conversion efficiency and sensitivity that should be improved. [17] In order to satisfy robotic requirements such as dexterous Tactile sensation is one of the most important senses in living things and smart devices to obtain the required data from the outside world, and slip is one of the main tactile information. In the present study, a slip sensor made of conductive sponge and polyvinylidene fluoride (PVDF) is proposed to sense the magnitude and direction of the sliding force. The structure and working principle of the sensor are analyzed using the finite...