The invention provides an electroactive material (preferably electroactive polymer) sensor system, comprising an electroactive material sensor (22) and a control system (28) for performing measurements relating to the impedance of the electroactive material sensor at at least first and second different frequencies. From these measurements a temperature at the sensor and an external pressure or force applied to the sensor can be determined. The sensor can thus be used as a pressure sensor and as a temperature sensor. When used in combination with actuation, an electroactive material actuator with integrated temperature sensing functionality is able to measure the temperature at the exact actuator position, which is always closer than an external thermocouple.
