Abstract
Optical tactile sensing is gaining traction as a foundational technology in collaborative and human-interactive robotics, where reliable touch and pressure feedback are critical. Traditional systems based on total internal reflection (TIR) and frustrated TIR (FTIR) often require complex infrared setups and lack adaptability to curved or flexible surfaces. To overcome these limitations, we developed OptoSkin-a novel tactile platform leveraging direct time-of-flight (ToF) LiDAR principles for robust contact and pressure detection. In this extended study, we systematically evaluate how key optical properties of waveguide materials affect ToF signal behavior and sensing fidelity. We examine a diverse set of materials, characterized by varying light transmission (82-92)%, scattering coefficients (0.02-1.1) cm(-1), diffuse reflectance (0.17-7.40)%, and refractive indices 1.398-1.537 at the ToF emitter wavelength of 940 nm. Through systematic evaluation, we demonstrate that controlled light scattering within the material significantly enhances ToF signal quality for both direct touch and near-proximity sensing. These findings underscore the critical role of material selection in designing efficient, low-cost, and geometry-independent optical tactile systems.