In order to solve the problem of the shape perception of bionic flexible antenna for intelligent robot,the flexible fiber sensing method was studied.Three-dimensional model of fiber tactile sensor was established,and the curvature formula that flexible antenna detected object shape was derived.The flexible antenna shape sensing system was set up,and the feasibility of fiber Bragg grating as sensing element was studied through the experiments.The calibration error of flexible bionic tentacles was analyzed,the relationship of the fiber grating central wavelength drift and shape curvature was gotten,parameter deviation between the fitting curve and the actual curve was small,which verified the feasibility of bionic flexible antenna shape optical fiber sensing technology.The results show that the optical fiber sensing method can realize the shape perception of bionic flexible antennas and has the application prospect in the field of intelligent robot.