To address the challenge of real-time and precise identification of distributed forces during flexible contact in cooperative target de-tumbling and capture processes, this paper proposes a nested recursive distributed force identification method based on an array pressure sensor. This method achieves real-time characterization of the contact area and distribution characteristics of distributed forces under spatiotemporal coupling conditions. First, a distributed contact force model is established, and its power-exponential function properties are utilized to perform a logarithmic space transformation. A shape function is then introduced to decouple the spatiotemporal characteristics of the distributed force. In the spatial domain of the nested inner layer, an improved weight equation based on the Sigmoid function is proposed, and a weighted least squares method using the S-shaped weight function ( S-WLS) is developed to refine the geometric parameters of the contact area obtained through a neighboring response region search algorithm. In the time domain of the nested outer layer, both a forgetting factor and a weight factor are introduced to construct a recursive formula for dynamically solving the standard equation of distributed force. Accurate identification of the distributed force characteristic parameters is achieved through exponential transformation. Finally, a distributed force acquisition system based on an array pressure sensor is designed, and an equivalent microgravity collision platform is developed to conduct oblique collision experiments. Experimental results demonstrate that the proposed method significantly outperforms the traditional weighted least squares ( WLS ) method in identifying distributed force characteristic parameters, with a relative error range of only ±8. 8% . Furthermore, the Hazen scoring method is applied to perform a normality test on the relative error at a 95% confidence level, confirming the accuracy and effectiveness of the proposed method. This work provides a theoretical foundation and technical solution for the accurate prediction of dynamic distributed forces in space debris detumbling and capture applications.