The development of robots has played an important role in industrial production. Because of the complexity of application objects, traditional rigid robots have some shortcomings in security and flexibility. Due to the high flexibility of the material of the robot body, the robot soft hand provides a new idea and direction for solving the complex adaptability and flexibility of the robot in complex environment. However, the non-linearity and complex geometric characteristics of soft materials make modeling and control a problem. For this reason, this paper takes advantage of the advantages of high sensitivity, light weight and good flexibility of optical fibers. Fiber grating is embedded in the soft material to detect bending force and contact force without affecting the motion of the soft hand, so as to realize the sensing function. On the basis of pointing out the shortcomings of existing flexible sensors, an embedded soft material detection method based on optical fiber is proposed. Firstly, the structure of pneumatic soft finger is simulated and optimized, and the optimal size of soft finger is determined. Soft fingers were prepared by wax loss process. Fiber Bragg Grating (FBG) is embedded and a tactile sensing system is established. The results of FBG-based flexible finger bending and contact force detection are verified. The validity and rationality of the sensor are proved. This is of great significance to the research of soft robots. Finally, this paper summarizes the full text.