This study focuses on enhancing the sensitivity of magnetic tactile sensors by rearrangement of the magnetic circuit using a specialized permanent magnet structure, specifically the implementation of a Halbach array configuration strategically placing the permanent magnets to optimize the horizontal magnetic flux density of the sensing element, while concurrently minimizing interference from side magnetic circuits. By adopting this approach supported by finite element analyses, the sensitivity of tactile magnetic sensors is found to be significantly amplified, leading to enhanced accuracy and performance in various applications.