To explore the sensing performance of fiber bragg grating (FBG) embedded in the organisms, one kind of fiber FBG flexible sensor is developed. Its performance of sensing temperature and force is studied. First, the structure and manufacturing method of the FBG flexible sensor are introduced. Then, the temperature and pressure sensing model of the FBG flexible sensor are formulated. The pressure of flexible sensor is theoretically simulated by finite element analysis software Abaqus. Finally, comparison experiments between the FBG flexible sensor and the bare FBG sensor are implemented in terms of temperature and force perception. Experimental results show that the sensitivity of the flexible sensor during heating and cooling are 1314 and 1106 pm/℃, which are 13 times higher than those of the bare FBG sensor. The static pressures loading process and unloading process are 0318 1 and 0345 3 pm/g, respectively. These metrics are three times higher than those of bare FBG sensor. The linear correlation coefficient is 995%, which is better than that of bare FBG sensor. It has a stronger signal than bare FBG sensor for detecting the traffic load. The strain value of 20 g solid ball height from 50 cm is 38 με, which illustrates the obvious tracking effective ness. The sensor has high sensitivity and good repeatability, which has a significant reference for the study of the bionic body tactile slip sense.