Force and torque sensor is one of the most important external sensors for robots.With the development of special robots, it is becoming more and more important to research and develop a new type of force sensors that could be applied to special environment, such as minimally invasive surgery, nuclear magnetic resonance surgery, rescue and relief, nuclear power station, fire fighting, etc. As a special type of optical passive component, the fiber Bragg grating (FBG), taking light as sensing signal, is of prominent advantages, such as non-electric detection, immunity to electromagnetic noise, no zero drift, high precision, high temperature resistance,and the fact that multiple FBGs can be arrayed along a single fiber. Since FBGs was first used in robot multi-component force sensors in 2001, FBG based force/torque tactile sensing technology has been researched and applied widely. We describes the state of the art in multi-component force/torque sensing and tactile sensing technologies based on FBG, and presents the future work.