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Ionic polymer sensors (IPSs) have broad application prospects in health monitoring, environmental perception, and human–computer interaction. The performance of IPSs with chemically prepared electrodes is generally superior to that with physically prepared electrodes due to the area difference of the electric double layer (EDL), but the effects of the electrode characteristics prepared by chemical methods on the performance of IPSs have not been revealed. Therefore, in this paper, we studied the impact of the characteristics of chemically prepared electrodes on the performance of IPSs and realized the performance optimization of IPSs through electrode characteristic regulation. By controlling the matrix surface roughening, immersion reduction plating (IRP) cycles, and electroplating (EP) time, the sensing performances of IPS samples with different electrode interface roughnesses, electrode penetration depths, and surface resistances were investigated, respectively. The experimental results indicated that the response voltage of the IPS can be improved by increasing the electrode interface roughness and the electrode penetration depth and reducing the surface resistance. In addition, we have proven that the sensing performance of the IPS is determined by its intrinsic capacitance characteristics. Through coupling electrode characteristic regulations such as roughening and increasing IRP cycles and EP time, a high-performance IPS was obtained, and its response amplitude was improved by 237.8%. The obtained high-performance sensor has been applied in human motion detection, which has good potential to develop wearable devices with high stability for physiological activity monitoring.