Abstract: A biocompatible soft pressure sensor comprises: a stretchable top electrode comprising a first elastomeric substrate and a first biocompatible conducting polymer coated on an inner surface of the first elastomeric substrate; a stretchable bottom electrode comprising a second elastomeric substrate including a textured inner surface comprising an array of peaked structures, and a second biocompatible conducting polymer coated on the textured inner surface, where a coated tip of each peaked structure is in contact with the first biocompatible conducting polymer; a top encapsulation layer on an outer surface of the first elastomeric substrate; and a bottom encapsulation layer on an outer surface of the second elastomeric substrate. A resistance measured by the biocompatible soft pressure sensor changes upon exposure to an external pressure.