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Aramid nanofibers (ANFs) were successfully produced by deprotonation of Kevlar fiber followed by grafting epichlorohydrin in dimethyl sulfoxide solution. The ANFs were then incorporated into carboxylated acrylonitrile butadiene rubber (XNBR) by means of latex blending, followed by vulcanization. The interaction between ANFs and XNBR, and the effects of ANFs on the mechanical strength, dielectric properties, and thermal stability of ANF/XNBR nanocomposites were investigated. The results revealed that hydrogen bonding and covalent bonding interactions existed between ANFs and the XNBR matrix and played a critical role in the reinforcement of ANFs to XNBR nanocomposites. After adding 5 phr (parts per hundred rubber) of ANFs, the XNBR nanocomposite exhibited a significant improvement in mechanical properties, namely a 182% increase in tensile strength and a 101% increase in tear strength. In addition, the dielectric constant and thermal properties of ANF/XNBR also increased dramatically. ANFs may thus make an ideal candidate for high-performance rubber materials.