A versatile PDMS submicrobead/graphene oxide nanocomposite ink for the direct ink writing of wearable micron-scale tactile sensors

•An aqueous nanocomposite ink with polydimethylsiloxane (PDMS) submicrobeads and an electrochemically derived graphene oxide (EGO) nanofiller was formulated for DIW.•The DIW-printed device exhibits low resistivity (1660Ω·cm) at a low percolation threshold of EGO (0.83vol.%) owing to the unique nanocomposite structure of graphene-wrapped elastomeric beads.•The printed large-scale strain sensors showed excellent performance over a large working range (up to 40% strain), with high gauge factor (20.3), and fast responsivity (83ms).•The micron-scale pressure sensors demonstrated high pressure sensitivity (0.31kPa−1) and operating range (0.248–500kPa).•The interfacial effect in the DIW printed layers (layer-by-layer) has huge impact toward overall strain sensing resistance and mechanism.