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Robotic systems and the human body consist of numerous joint structures, all of which require precise angle adjustments. At present, encoder, strain gauge, and electrical resistance-based sensors are commonly used for angle measurement. However, these sensors have limitations when used in underwater or in environments with strong electromagnetic waves. Therefore, we have developed an angle sensor based on step-index profile plastic optical fiber (SI-POF), which is cost-effective and highly durable, in this study in order to overcome the limitations of existing angle measurement sensors. To this end, the amount of light loss according to the gab and angle changes that occur when the POF angle sensor is applied to the robot arm was experimentally measured, and based on the results, a simulation of the amount of light loss when the two losses occurred at the same time was conducted. In addition, the performance of the POF angle sensor was evaluated by measuring sensitivity and resolution, and comparative verification with a commonly used encoder was conducted to verify the reliability of sensors in extreme environments, such as those with electromagnetic fields and those that are underwater. Through this, the reliability and practicality of the POF angle sensor were confirmed. The results obtained in this study suggest that POF-based angle sensors can contribute to the development of the biomimetic robot industry as well as ordinary robots, especially in environments where existing sensors are difficult to apply, such as areas with underwater or electromagnetic interference (EMI). Full article