针对电活性聚合物(EAP)薄膜制造柔性智能器件的发展要求，分析了电活性聚合物薄膜的正/逆力-电特性及发电机理，采用静电诱导自组装技术在电活性聚合物表面制备了碳纳米管薄膜电极，然后构建了柔性传感器件。实验研究了EAP柔性器件的手指关节弯曲姿态及脚踏运动触觉的传感特性。扫描电子显微(SEM)形貌观察表明：碳纳米管薄膜呈网状结构且质地致密均匀。基于EAP柔性器件的手指弯曲姿态实验结果表明：在手指弯曲度为15~90°时，输出电压峰值为1.2~3.7 V，展示了输出电压峰值与手指弯曲度之间的高线性度，线性相关系数为0.9951。此外，采用EAP薄膜器件对踏步触觉进行了实验测试，其输出电压峰值在1 V左右，而且具有响应快、可重复性好等优势。本文的研究为电活性聚合物薄膜型电子皮肤及触觉传感器的发展提供了理论基础和实验依据。

According to the development requirements of Electroactive Polymer (EAP)-based flexible and intelligent devices, the positive/inversive electro-mechanical properties of an EAP film and its electric power generation were proposed. A carbon nanotube-based flexible film electrode was fabricated on the EAP surface by using electrostatic-induced self-assembly technology, then a flexible sensing device was manufactured. The sensing characteristics for EAP under finger-bending gesture and a pedal touch test were investigated. The morphological observation by a scanning electron microscopy shows the carbon nanotube film to be high strength, dense and random network structures. The measurement of finger-bending gesture illustrates that the output voltage peak is in the range of 1.2-3.7 V under finger-bending angle of 15-90°, and also indicates the high linearity between output voltage peak and finger-bending angle with linear correlation coefficient of 0.9951. Furthermore, experimental result of EAP film device under the pedal touch shows that the output voltage peak is about 1 V with advantages of swift response and good repeatability. This work can provide the theoretic foundation and experimental supports for EAP-based electronic skin and tactile sensors.