Self-powered sensors based on triboelectric nanogenerators (TENGs) have shown great advantages in human-machine interactions. However, the complex preparation process and high cost of conventional electrodes hinder their practical implementation. In this study, we develop a wearable self-powered toroidal triboelectric sensor (STTS) with a pyramidal structure for self-powered human-machine interactions based on an extremely simplified design strategy. 3D printing technology is employed to fabricate pyramidal arrays on MXene/Ecoflex nanocomposites, thus providing a comfortable space between the finger skin and the negatively charged layer to overcome the space requirements in traditional triboelectric-based sensors. Furthermore, the developed pyramidal structure of the nanocomposite and flexible conductive fabric electrodes assembled with 3D-printed gloves based on the flexible TPU material maintained the wearability of the sensing system. The flexible and simplified single-electrode design strategy of the STTS can be easily worn on the human hand for comfortable and natural interaction with machines and devices. The high peak-to-peak voltage (19.91 V), high sensitivity (0.088 VkPa−1), and wide pressure detection range (0–120 kPa) enable the generation of high-quality output signals for the accurate detection of various finger movements exhibiting great potential for use in human-machine interaction applications in next-generation artificial intelligence and interactive devices.