This work presents a unified MEMS platform utilizing Piezoelectric Micromachined Ultrasonic Transducers (PMUTs) for dual-mode sensing: continuous volumetric indoor temperature monitoring and multimodal tactile force sensing. By leveraging ultrasonic Time-of-Flight (ToF) and profile scanning, we demonstrate two critical advancements for autonomous systems. First, at the macro-scale, a networked PMUT grid enables "volumetric" temperature monitoring across a 5m range, outperforming traditional pointwise sensors by detecting global and local thermal events for energy-efficient HVAC control. Second, at the contact-scale, a PMUT-based tactile sensor achieves 0.1 N resolution in normal force sensing and successfully decouples shear forces through elastomer thinning effects. This research establishes PMUTs as a versatile technology for both large-scale environmental awareness and precision robotic manipulation, providing a path toward integrated "spatial intelligence" in future smart environments.
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