The invention relates to a time sharing driving and sensing device made of an electro-strain material. The device includes an acquisition circuit, a timing configuration circuit, a driving circuit, anelectro-strain material and an electrode, wherein the electro-strain material is provided with electrodes on upper and lower sides, the acquisition circuit includes a acquisition MCU and a signal amplifier, the timing configuration circuit includes a main MCU, a timing generator and a high frequency electromagnetic switch, and the driving circuit includes a driving MCU and a power output device.The device is advantaged in that at the level of the electro-strain material processing technology in the prior art, a high-frequency electromagnetic switch is introduced to realize high-frequency onand off of the driving and acquisition circuit, time sharing driving and sensing of the electro-strain material are realized, the time sharing driving and sensing effect is realized at the low frequency range, that is, improving processing complexity in the prior art is not needed, the system cost is reduced, wiring complexity at the micro scale is reduced, moreover, optionality of combined functions is enriched, through sequential configuration, the device can be used not only as a single driver, but also as a single sensor, and driving and sensing can be further achieved.