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[Display omitted] The bionic application of electronic skin (e-skin) requires a high resolution close to that of human skin, while its long-term attachment to human body or robotic skin requires a porous structure that is air permeable and enables hair growth. To simultaneously meet the requirements of high resolution and porous structure, as well as improve the sensing performance, we propose a fully 3D printed e-skin with high-resolution and air permeable porous structure. The flexible substrate and electrodes are 3D printed by a direct ink writing extrusion printer. The sensitive material is 3D printed by a self-made low-viscosity liquid extrusion 3D print module. This e-skin has a high sensor density of 100/cm2, which is close to the resolution of the human fingertip skin. The piezoresistive sensor units of e-skin exhibit a highly linear resistance response and a relatively performance consistency between devices. Owing to the porous and breathable structure, better human comfort and mechanical heat dissipation are realized. This high-resolution e-skin is successfully applied to identify small-sized objects with complex contours. [ABSTRACT FROM AUTHOR]