The development of a tactile sensor comparable to the human fingertip is of paramount importance for robotics. Our project team previously proposed a flexible tactile force sensing solution based on the Hallbach magnetic array in the top robotics journal Science Robotics. This technology achieved precise tactile feedback comparable to human fingertips for the first time, decoupling normal and tangential forces, achieving ultra-high resolution, and possessing characteristics such as small size and low cost. On this basis, we have conducted in-depth research development and technology iteration in terms of high-precision measurement of multi-dimensional forces, product durability and communication compatibility.