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Current tactile systems primarily detect basic contact using a limited number of sensors, hindering accurate soft\u2010object localization and physiological signal acquisition. This study introduces a robotic palpation strategy by utilizing a fully soft\u2010tactile\u2010sensor\u2010integrated humanoid hand for real\u2010time spatiotemporal arterial pulse diagnosis. A facile fabrication technique produces an artificial pressure\u2010sensitive layer with multilevel microscale dome\u2010on\u2010dome (DoD) structures using eutectic gallium\u2010indium, achieving high\u2010density (&gt;72\u00a0500 ea\/cm\n                    <jats:sup>2<\/jats:sup>\n                    ) and large\u2010area (wafer\u2010scale &gt;98% yield) fabrication. The DoD\u2010integrated pressure sensor exhibits a 7.5 \u00d7 enhanced dynamic response compared with a single\u2010level sensing layer, enabling the simultaneous detection of subtle vibrations under high\u2010pressure conditions. The artificial skin is integrated into a humanoid hand, featuring 81 sensors on the fingertip and a total of 801 sensors on the hand, allowing real\u2010time spatiotemporal arterial pulse quantification and mapping.\n                  <\/jats:p>","DOI":"10.1002\/smll.75582","type":"journal-article","created":{"date-parts":[[2026,9,7]],"date-time":"2026-09-07T09:16:51Z","timestamp":1788772611000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Robotic Palpation for Spatiotemporal Arterial Pulse Quantification and Mapping Using Multilevel Microdome\u2010Based Soft Pressure Sensors"],"prefix":"10.1002","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-0094-4979","authenticated-orcid":false,"given":"Seong\u2010Min","family":"Im","sequence":"first","affiliation":[{"name":"Department of Medical Engineering College of Medicine Yonsei University  Seoul Republic of Korea"},{"name":"Department of Integrative Medicine 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