 This paper proposes a new type of capacitive pressure sensor which has excellent sensitivity and linearity. It uses a spontaneously wrinkled MWCNT slash PDMS dielectric layer to achieve this. The sensor is able to detect subtle physiological signals such as arterial pulse and respiration. Additionally, it can also be integrated into a fully multi-material, 3D printed soft pneumatic finger to sense material hardness. This article was authored by Chunyue LV, Chengcheng Tian, Juxuan Zheng, and others.