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This paper designs a small flexible haptical sensor array, and designs a test system based on the sensor array. The sensor array is made of pressure-sensitive materials, an insulating shell, and 16 strip conductors. Then a measurement circuit is built, and the resistance of the points on the array and the voltage output change with pressure are measured through the amplifier array and the data acquisition card. The array is gated and scanned by the data selector to obtain the realtime resistance change situation, real-time display in the form of three-dimensional graph with carrying out data processing. Through single-point, multi-point and sliding experiments on the array, the output measurement results are obtained, which verifies the effectiveness of the flexible array and the haptical test system.