The design of endoscopes has not considered the compliance adaptability inside the body. Hence, endoscopy procedures are harmful and even fatal during endoscopic procedure when using commercial endoscopes. A cutting-edge technology should involve the redesign of endoscopes based on stimuli responsive integrated devices. Herein, we report and discuss the results of soft sensors integrated in a custom pneumatically actuated soft silicone-structure simulating the shape of soft endoscopes and catheters that can respond to low-load sensing capabilities such as tactile and multidirectional stimuli. For this purpose, two triboelectric nanogenerator based-sensors, lateral and semispherical, were integrated. Lateral sensor showed the highest voltage outputs (1.25 V) at 45 kPa of pressure, while pressures of 30 and 35 kPa generated voltages of 100 and 500 mV, respectively; showing high sensitivity at very low pressures. Moreover, regarding multidirectional sensing, the semispherical sensor showed voltage outputs of 110 mV for 0 degrees of interaction with regard to axial axis, while 75-85 mV for interaction angles of 30 and 60 degrees.