Sensor device for environmental perception and/or for reliably gripping and manipulating objects

Sensor device (1), comprising:

• a first substrate (3);
• a capacitive sensor (4) for detecting an approach of an object, wherein at least a portion of the capacitive sensor (4) is arranged on a first side of the first substrate (3);
• a piezoelectric sensor (5) for detecting a pressure or a pressure change, wherein the piezoelectric sensor (5) is arranged in the sensor device (1) spaced from a second side of the first substrate (3), the second side of the first substrate (3) being opposite to the first side thereof;
• and
• a shield electrode (7) between the capacitive sensor (4) and the piezoelectric sensor (5), wherein the shield electrode (7) is electrically coupled to ground.