Flexible tactile sensor based on light attenuation, and array and preparation method thereof

The invention discloses a flexible tactile sensor based on light attenuation, and an array and a preparation method thereof, and belongs to the technical field of sensing. The flexible tactile sensorcomprises a laser light source, a first optical fiber, a flexible dome, a second optical fiber, a photoelectric sensor and a flexible optical fiber coupler, and the flexible dome is adhered to the surface of a soft object through the flexible optical fiber coupler; and one end of the first optical fiber and one end of the second optical fiber are aligned with the flexible dome, the other ends of the first optical fiber and the second optical fiber are connected with the laser light source and the photoelectric sensor respectively, laser generated by the laser light source reaches the photoelectric sensor after being sequentially transmitted through the first optical fiber, reflected by the flexible dome and transmitted through the second optical fiber, the photoelectric sensor is used forcalculating the optical in