At the terminus of every robotic arm is an end-effector. These are the hand-like devices that directly interact with the environment. Collecting data from the vantage point of an end-effector is highly desirable, though difficult to accomplish in practice. Wired data transmission solutions which use internal cables suffer from signal degradation due to proximity to power conduits. Moreover, the solutions which use external cables are subject to tangling and often impose limits on the robot’s kinematics. Finally, existing wireless data transmission solutions are rarely used due to the low transmission rate, high latency time and unstable connection. This research focuses on developing a general approach to stream visual (RGBD) and haptic (force) data wirelessly to other devices. The resulting system should consist of an architecture which interfaces with a suite of end-effector sensors and handles signal compression, transmission, and decompression efficiently. Additionally, this project involves a hardware design portion which aims to neatly package and mount this infrastructure at the robot end-effector while satisfying power and kinematic constraints for the robot. This research chose the Intel Joule, an embedded Linux board, as the infrastructure to handle wireless transmission. The embedded board uses a low-level Python networking package, which forms the connection to transmit data to other devices on the same network. This project implements packages to encode, transmit and decode the data stream with Python. The receiving device decodes the compressed data and makes the data available to other devices on the same network. This project allows sensors and the main computer of the robot wireless connected and future robot would operate movement more freely.