Abstract: This article aims to summarize the progress in soft robot interaction research based on flexible sensing. Firstly, the latest advancements in practical applications of soft robots are introduced, such as flexible grasping, biomedicine, and environmental exploration. Secondly, the methods of kinematic and dynamic modeling for soft robots are presented. Subsequently, flexible sensing technologies applicable to soft robots are analyzed, with a specific focus on discussions surrounding flexible multimodal sensing techniques. Then, the current state of research on sensing and intelligent interaction in soft robots is elucidated, demonstrating the utilization of flexible sensors for intrinsic and environmental perception, as well as multimodal sensing. The emphasis is on the analysis of intelligent interaction systems for soft robots based on flexible sensors. Finally, potential challenges and prospective directions in soft robot interaction research based on flexible sensing are discussed and anticipated.