Pressure ulcers are a skin condition caused by friction, shear, and long-term pressure on the skin and can result in considerable discomfort for patients. We developed a novel monitoring device for the early diagnosis of pressure ulcers. We designed and fabricated the diagnosis, transmission, and recording units of the system based on an optimal design. The skin-injury monitoring system has a user-friendly interface with a high-speed real-time wireless transmission function. We developed a stable platform firmware and sensible operational software program for the system as well. Furthermore, a portable skin-injury monitoring device package was fabricated via 3D printing. We performed primary experiments in the laboratory using a biological skin-injury model. The developed pressure ulcer sensing system can determine indicators of pressure ulcers and is suitable for the early diagnosis of pressure ulcers and prevention of skin injury and lesions.