Human-machine interaction is an important aspect of exchanging information between the virtual reality world and the physical world. Haptic information interaction enables users to have immersive and efficient interactions, enhancing the overall experience. With the increasing number of tactile sensors and actuators in human-machine interaction systems, there are new requirements for multifunctional integration, lightweight energy consumption, and portability of devices. This paper proposes a human-machine interaction interface based on multi-modal haptic sensing and feedback fusion devices. This human-machine interaction interface has the following functions: touch-slip sensation sensing based on triboelectric-piezoelectric hybrid effect, vibration feedback, and pneumatic pressure feedback. We apply this human-machine interaction interface to robot digital twin interaction control, providing users with a more realistic control experience through the integration of haptic sensing and feedback.