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In order to improve the safety of robothuman interaction, a new type of intelligent material named electroactive polymer (EAP) was chosen as the sensitive material of the sensor array unit, and a flexible pressure sensor array and its signal acquisition system were designed. The mathematical model of the input and output of the pressure sensor was presented and a method of increasing the force sensory information by using bicubic interpolation method was proposed. Furthermore, a prototype of the sensor based on VHB4910 was fabricated. Finally, the feasibility, accuracy and practicality of the sensor array were validated by calibration experiments and application experiments. The experimental results showed that the difference between the theoretical value and the measured value of the developed sensor capacitance was about 0.01pF, the experimental results agreed well with the theoretical one. The maximum sensitivity was 0.1343pF/N and in the range of 0~6N, and the repeatability index was 28.3%. This tactile sensing display was flexible prone to stretch and had other excellent performance such as simple structure, good flexibility, easy to carry, and abrasion resistance. The tactile display had great application potential in case of safety of robot interaction, which can be used to test the surface contact force when the robot grasped some vulnerable objects such as eggs and strawberries. 