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Previously reported artificial smart skins for humanoid robots suffer difficulties in achieving multi-dimensional sensing in a simple structure with a low system cost. In this paper, we exhibit a polyimide/copper/PVDF structured smart skin for multidimensional sensing (including position, proximity, force and humidity), which is enabled by smart utilization of dielectric property of polyimide layer and piezoelectric of the PVDF layer. Experimental results demonstrate that the developed technique successfully obtains large area, flexibility, and multiple-function with simple device structure and low component cost, potentially enabling massive production and advanced services for the humanoid robots’ applications.