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A design method for a miniature optical lens tipped on a single-mode fiber end to improve power coupling from a semiconductor laser is described. The lens shapes studied are hemispherical, hemicylindrical, and hemiellipsoidal. The optimum coupling conditions and the obtained coupling efficiency are represented in terms of laser beam and fiber parameters. Preferable ranges of hemispherical and hemicylindrical lenses are classified according to the laser and fiber mode spot sizes. Fiber axis offset and tilt effects on coupling efficiency are also studied.