 The proposed U3DTT is a novel underwater tactile sensor system that uses soft self-powered triboelectric nanogenerators to detect and analyze the magnitude, location and orientation of perturbations in real time. It is inspired by the structure of terrestrial animal's musculoskeletal systems and is composed of both stiff bones and stretchable muscles. When integrated with underwater vehicles, it offers multiple degrees of freedom in its shape modes, an ultra-high sensitivity, and fast response times with a low cost and conformability. Furthermore, the real-time 3D pose of the U3DTT has been predicted with an average RMSE of 0.76 in a water pool, demonstrating its potential as a promising technology for vehicles with tactile feedback. This article was authored by Peng Soo, Joshi Zhang, Jianhua Lu, and others.