High-Efficiency Fluorescent-Coupled Optical Fiber Passive Tactile Sensor with Integrated Microlens for Surface Texture and Roughness Detection

/PDMS film featuring a pyramid surface structure. The MLTS demonstrated exceptional pressure sensing capabilities, exhibiting rapid response times of 250 ms for loading and 200 ms for unloading, along with strong durability, surviving over 2000 cycles. It effectively distinguished Braille patterns and sandpapers of varying roughness by detecting the ML signals generated by the sensor's surface microstructures. Notably, this sensor operates without the need for external light stimulation, making it a promising candidate for application in photonic skin and robotic tactile perception.