A sensing and driving apparatus suitable for a sensing interface is provided. The sensing and driving apparatus includes a driving module and a sensing unit. The driving module outputs a first reference signal and a second reference signal which have different polarities with each other, and respectively transmits the first reference signal and the second reference signal to a first driving line and a second driving line of the sensing interface so as to generate a first sensing signal during a first period. The sensing unit receives the first sensing signal and detects a change of the first signal so as to generate a sensing result. A sensing and driving method, a touch sensing system and a device using the same are also provided herein.