Simultaneous or concurrent multiplexing techniques with orthogonal sequences have been used to extend the channel capacity of tactile sensor systems. Typically, dynamic sensor signals violate the orthogonality requirement; as such, parallel multiplexing of driving signals should be strictly constrained in industrial practices. This makes it difficult to improve the signal-to-noise ratio of nonstatic targets in high-order multiplexing. This article proposes a sliding-windowed and compensated multiplexing technique to address the fundamental problems in concurrent multiplexing and improve its applicability. Two construction methods for palindromic sequences were developed to reduce multiplexing errors, based on conventional orthogonal matrices. Then, the orthogonal sequences were expanded to consecutive signal samples within a limited signal window. This increases the received signal and reduces the output latency of data acquisition. Further reduction of residual errors in the expanded signal samples was achieved via the postprocessing filter. The proposed method is scalable in order to conform to system requirements in terms of responsiveness, signal errors, and design complexity. Hardware implementation was successfully demonstrated by concurrently stimulating a 16 × 10 piezoresistive tactile panel. In the experiments, 70–88% of concurrent multiplexing errors were removed.