in view of the intelligent robot in the process of soft fetching in three-dimensional perception and awareness to identify needs, in carbon black/graphene for sensitive materials, silicone rubber as the matrix, polyimide flexible electrode, design can realize three dimensional force perception of flexible tactile sensor;At the same time, an algorithm based on wavelet transform - phase space reconstruction - support vector machine (DWT-PSR-SVM) was designed to realize sliding recognition.For soft crawl robot experiment results show that the sensor can effectively detect the three-dimensional force, through the designed fusion algorithm can identify in the robot grasping the sliding state and the state of the task, can be further used in the soft scraping the work of the robot.