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Health monitoring, e-skin, and soft robotics call for large-area and robust energy-harvesting strategy to powering their embedded sensors and peripheral electronics. Triboelectric nanogenerator (TENG) is an optimum option to energizing self-powered sensors and self-charging systems. Herein, a large-scale facile and compatible bar-assisted printing method is presented to achieve hierarchically microstructured polymer composite triboelectric film with good hydrophobicity to improve the electrical output performance and achieve the robustness of TENG. The electrical outputs of the TENG devices are tuned by imparting the graphite fillers into polydimethylsiloxane (PDMS) with optimal concentration. The achieved microstructured graphite/PDMS composite based TENG supplies high and stable short-circuit current of 42 µA, open-circuit voltage of 410 V, and transferred charges of 160 nC under an applied force of 1.2 N, which are sufficient enough to power wearable sensors or charge the energy storage devices. The TENG devices can charge a 2.2 µf capacitor to 1.5 V within 2 s, lighten 30 commercial green LEDs, and drive an electronic watch as well. Self-powered tactile sensing has also been demonstrated by attaching the TENG devices onto a rubber glove to monitor the process in grasping objects. Furthermore, a large-scale self-powered sensor array is fabricated and utilized to map the spatial pressure distributions. This work not only demonstrates a scalable fabrication of the hierarchically microstructured polymer composite films for high-performance TENGs with high electrical outputs, excellent durability and ambient stability, but also brings insight into the development of future cost-effective and self-powered electronics.