Are you saying you want the authentication to occur every time the screen unlocks via a swipe regardless of which app you will be returning to? If so:
I am 99% sure this is not possible yet. A member of my family works for CIRM (California Institute for Stem Cell Research) and even though they switched to iPhones for work, they still use the 4 digit passcode setup as applied in settings for authentication to gain access to the entirety of the phone.
Everything related to the underlying operating system is off limits because of Apple for the most part, so I'd imagine this is mostly not possible.
Maybe you could do some tedious hacking after jail-breaking the phones but that would violate a lot of laws which is especially bad in a corporate setting, so don't do that.
What is possible is having an app you create requiring re-authentication each time someone begins using it (Whenever it re-enters the foreground). It seems like you already knew that though and that wasn't really your question.
Hope this helps. Good luck.