Conventional pressure sensors often integrate two distinct mechanisms to detect static and dynamic stimuli, hindering the development of high fidelity human-machine interfaces. Here, we present an intrinsic static/dynamic triboelectric sensor (iSD Sensor) capable of reliably perceiving both continuous static pressure and transient mechanical shocks through a DC/AC signal decoupling strategy. By pairing hydrophobic expanded polytetrafluoroethylene (ePTFE) with elastic conductive sponge, a pressure-adaptive triboelectric interface is formed, where microscale and large-scale separations enable static and dynamic pressure sensing, respectively. Furthermore, by employing a charge excitation strategy, the device delivers enhanced voltage outputs over 25X in static and 15X in dynamic modes. Combined with a 3D gradient conductive sponge structure, the sensor achieves multi-region sensitivities of 34.7 V/kPa (static) and 48.4 V/kPa (dynamic) under low pressure (less than 1.8 kPa), and a detection limit as low as 6.13 Pa. By perceiving continuous static pressure and transient shocks applied by the human hand, the iSD Sensor enables robotic arm control via proportional grasping and dynamic, trigger-based sign language communication. This work advances high-sensitivity, self-powered pressure sensors toward intelligent, closed-loop human-machine interaction.