Battery-type pressure sensors enable static pressure sensing and self-powered operation but are limited by narrow linearity due to rapid impedance saturation. This study presents a new strategy incorporating a piezoresistive cathode with tunable conductivity and resistance variation range into a redox-based sensor architecture to tune internal impedance. The resulting device achieves 96.25% linearity over 0–180 kPa, maintains high-output voltage, and exhibits fast response and long-term stability, with the cyclic stability error of ±3.07% the full-scale output. It further enables high-fidelity robotic actuation synchronized with human motion, offering a scalable design route for advanced wearable electronics and human–machine interfaces.