In this study, we propose a novel approach by introducing a fully printed hybrid soft sensor comprising a piezoelectric sensing layer and a piezoresistive sensing layer. Drawing inspiration from the mechanoreceptors of the human skin, the piezoelectric sensing layer mimics fast adapting (FA) receptors to effectively detect high-frequency dynamic stimuli. Meanwhile, the piezoresistive module captures static stimuli similar to the slow adapting (SA) receptors. This dual-modal mechanical sensor serves as a strain sensor and tactile sensor in a soft robot system, enabling the detection of various mechanical stimuli such as actuating gestures, motion speed and direction, as well as advanced tactile perceptions.