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.