E-skin with physical sensing capability has attracted considerable interest towards practical applications in soft robotics, human–machine interfaces, and wearable health monitoring. However, the development of a multimodal sensing platform with multiple layers for e-skin sensing of temperature and pressure has faced challenges due to the typical use of bare or single sensing layers as well as the complication of integration of multifunctional sensing modules onto curved surfaces. Herein, we demonstrate a new platform technology with multiple sandwiched layers of highly oriented carbon nanotube (CNT) films and polyacrylonitrile (PAN) for integration of pressure and temperature sensory functionalities into a single platform that is thin, ultra-lightweight, flexible, and wearable. The key technology of in-situ deposition of sensor platform on objects or in robot interface makes this a unique method for the development of e-skins for robotic applications, offering a new approach to wearable electronics and portable health care.