Self-powered devices using a piezoelectric sensing medium are commonly used in pressure measurements under dynamic loads. Our proposed sensor provides the capability for measuring static forces as well as high frequency instantaneous impact forces. We employ rational fabrication methods and structures to develop a soft piezoelectric-capacitive pressure sensor using a highly porous piezoelectric dielectric material. The feasibility of a simple structured e-skin device for static and dynamic pressure measurements is demonstrated. Our reported device has 3 layers with a total thickness of less than 300 m. The device layers consist of two conductive fabric tape layers and a PVDF-TrFE piezoelectric layer fabricated directly to the surface of a customised robot end effector made from PDMS. This further demonstrates our in situ fabrication method to alleviate poor surface contacts and issues with adhesion.