Abstract: To achieve the modular design of electronic artificial skin, a fully compliant temperature and pressure tactile sensor is designed and used as artificial skin of intelligent robots, which is assembled into a modularized array structure with expandable characteristics. Taking graphene nanoplatelets (GNPs) as the temperature-sensitive material of the sensor, carbon black (CB) filled silicone rubber (SR) as the elastic dielectric, and the silver conductive silicone rubber as the flexible top plate, a capacitive pressure sensitive cell is designed, and the temperature and pressure sensor array is constructed with polyimide (PI) film as the flexible substrate. The structure design, working principle and the signal acquisition and processing system of the flexible temperature/pressure tactile sensor array are introduced. The experimental results of temperature, pressure and the compound perception indicate that the flexible temperature/pressure multifunctional tactile sensor array and the signal extraction system can realize tactile perception, and it provides a design scheme for wearable artificial skin.