{
  "niche": "tactile-force-sensors",
  "count": 24,
  "records": [
    {
      "name": "GelSight Mini",
      "maker": "GelSight Inc.",
      "type": "vision-based-tactile",
      "senses": "tactile",
      "resolution": "8 MP camera; ~0.06 mm/px depth map",
      "rate_hz": 25,
      "output": "tactile image + 3D depth/normal map",
      "open_source": false,
      "price_usd": "~$499",
      "year": 2022,
      "url": "https://www.gelsight.com/product/gelsight-mini-system/",
      "confidence": "high",
      "_sources": [
        "https://www.gelsight.com/product/gelsight-mini-system/"
      ]
    },
    {
      "name": "GelSight benchtop",
      "maker": "GelSight Inc.",
      "type": "vision-based-tactile",
      "senses": "tactile",
      "resolution": "micron-scale 3D topography",
      "rate_hz": 30,
      "output": "tactile image + 3D topography",
      "open_source": false,
      "price_usd": "enterprise (quote)",
      "year": 2016,
      "url": "https://www.gelsight.com/",
      "confidence": "medium",
      "_sources": [
        "https://www.gelsight.com/"
      ]
    },
    {
      "name": "DIGIT",
      "maker": "Meta AI + GelSight",
      "type": "vision-based-tactile",
      "senses": "tactile",
      "resolution": "VGA 640x480; ~19x16 mm area",
      "rate_hz": 60,
      "output": "tactile RGB deformation image",
      "open_source": true,
      "price_usd": "~$15 BOM (self-build); sold via GelSight",
      "year": 2020,
      "url": "https://digit.ml/digit.html",
      "confidence": "medium",
      "_sources": [
        "https://digit.ml/digit.html"
      ]
    },
    {
      "name": "DIGIT 360",
      "maker": "Meta AI + GelSight",
      "type": "vision-based-tactile",
      "senses": "both",
      "resolution": "~8.3M taxels; detail to ~7 microns; omnidirectional",
      "rate_hz": null,
      "output": "omnidirectional tactile field; forces to ~1 mN; multimodal (vibration, heat, gas)",
      "open_source": true,
      "price_usd": "research (not public)",
      "year": 2024,
      "url": "https://digit.ml/digit360.html",
      "confidence": "high",
      "_sources": [
        "https://digit.ml/digit360.html"
      ]
    },
    {
      "name": "GelSlim 3.0",
      "maker": "MIT",
      "type": "vision-based-tactile",
      "senses": "both",
      "resolution": "high-res compact finger",
      "rate_hz": 30,
      "output": "3D shape depth + 3D force distribution + slip",
      "open_source": true,
      "price_usd": "DIY (not sold)",
      "year": 2021,
      "url": "https://arxiv.org/abs/2103.12269",
      "confidence": "medium",
      "_sources": [
        "https://arxiv.org/abs/2103.12269"
      ]
    },
    {
      "name": "TacTip",
      "maker": "Bristol Robotics Lab",
      "type": "vision-based-tactile",
      "senses": "tactile",
      "resolution": "~30-127 pin taxels (variant)",
      "rate_hz": null,
      "output": "pin-displacement (deformation/shear) field",
      "open_source": true,
      "price_usd": "DIY (low cost, 3D-printable)",
      "year": 2018,
      "url": "https://www.bristol.ac.uk/news/2017/january/tactip.html",
      "confidence": "medium",
      "_sources": [
        "https://www.bristol.ac.uk/news/2017/january/tactip.html"
      ]
    },
    {
      "name": "9DTact",
      "maker": "Lin, Zhang et al.",
      "type": "vision-based-tactile",
      "senses": "both",
      "resolution": "compact 32.5x25.5x25.5 mm",
      "rate_hz": null,
      "output": "3D shape reconstruction + 6D force",
      "open_source": true,
      "price_usd": "DIY (low cost)",
      "year": 2023,
      "url": "https://github.com/linchangyi1/9DTact",
      "confidence": "high",
      "_sources": [
        "https://github.com/linchangyi1/9DTact"
      ]
    },
    {
      "name": "GelBelt",
      "maker": "CMU",
      "type": "vision-based-tactile",
      "senses": "tactile",
      "resolution": "continuous elastomer belt; scans up to 45 mm/s",
      "rate_hz": null,
      "output": "surface normal map (large-surface scanning)",
      "open_source": null,
      "price_usd": "research (not sold)",
      "year": 2025,
      "url": "https://arxiv.org/abs/2501.06263",
      "confidence": "medium",
      "_sources": [
        "https://arxiv.org/abs/2501.06263"
      ]
    },
    {
      "name": "ReSkin",
      "maker": "Meta AI + CMU",
      "type": "magnetic",
      "senses": "tactile",
      "resolution": "~1 mm; 5-magnetometer array; 2-3 mm thick",
      "rate_hz": 400,
      "output": "contact location + 3-axis force",
      "open_source": true,
      "price_usd": "<$6/unit at 100-unit volume",
      "year": 2021,
      "url": "https://ai.meta.com/blog/reskin-a-versatile-replaceable-low-cost-skin-for-ai-research-on-tactile-perception/",
      "confidence": "high",
      "_sources": [
        "https://ai.meta.com/blog/reskin-a-versatile-replaceable-low-cost-skin-for-ai-research-on-tactile-perception/"
      ]
    },
    {
      "name": "AnySkin",
      "maker": "NYU",
      "type": "magnetic",
      "senses": "tactile",
      "resolution": "magnetometer array (ReSkin successor)",
      "rate_hz": 100,
      "output": "force/contact signal; 92% slip detection",
      "open_source": true,
      "price_usd": "low (replaceable skins)",
      "year": 2024,
      "url": "https://arxiv.org/abs/2409.08276",
      "confidence": "medium",
      "_sources": [
        "https://arxiv.org/abs/2409.08276"
      ]
    },
    {
      "name": "eFlesh",
      "maker": "NYU",
      "type": "magnetic",
      "senses": "tactile",
      "resolution": "cut-cell microstructure; contact RMSE 0.5 mm",
      "rate_hz": null,
      "output": "normal force (RMSE 0.27 N), shear (0.12 N), contact loc., slip (95%)",
      "open_source": true,
      "price_usd": "<$5 magnets (DIY)",
      "year": 2025,
      "url": "https://e-flesh.com/",
      "confidence": "medium",
      "_sources": [
        "https://e-flesh.com/"
      ]
    },
    {
      "name": "ATI Nano17",
      "maker": "ATI (Novanta)",
      "type": "force-torque",
      "senses": "force-torque",
      "resolution": "6-axis; \u00d817 mm; up to ~50 N / 0.5 Nm",
      "rate_hz": 7000,
      "output": "analog / EtherCAT / CAN / USB via ATI controller",
      "open_source": false,
      "price_usd": "~$4,000-8,000 (quote)",
      "year": 2003,
      "url": "https://ati.novanta.com/product/nano17-force-torque-sensor/",
      "confidence": "medium",
      "_sources": [
        "https://ati.novanta.com/product/nano17-force-torque-sensor/"
      ]
    },
    {
      "name": "ATI Mini45",
      "maker": "ATI (Novanta)",
      "type": "force-torque",
      "senses": "force-torque",
      "resolution": "6-axis; \u00d845 mm; ~580 N / 20 Nm",
      "rate_hz": 7000,
      "output": "analog / EtherCAT via controller",
      "open_source": false,
      "price_usd": "quote",
      "year": null,
      "url": "https://ati.novanta.com/product/mini45-force-torque-sensor/",
      "confidence": "medium",
      "_sources": [
        "https://ati.novanta.com/product/mini45-force-torque-sensor/"
      ]
    },
    {
      "name": "Robotiq FT 300-S",
      "maker": "Robotiq",
      "type": "force-torque",
      "senses": "force-torque",
      "resolution": "6-axis; +-300 N / +-30 Nm; IP65",
      "rate_hz": 100,
      "output": "USB / RS-485 (Modbus RTU); ROS",
      "open_source": false,
      "price_usd": "~$5,000-8,000",
      "year": 2019,
      "url": "https://robotiq.com/products/ft-300-force-torque-sensor",
      "confidence": "high",
      "_sources": [
        "https://robotiq.com/products/ft-300-force-torque-sensor"
      ]
    },
    {
      "name": "Bota Rokubi",
      "maker": "Bota Systems",
      "type": "force-torque",
      "senses": "force-torque",
      "resolution": "6-axis + 6-DoF IMU; 120 g",
      "rate_hz": 1000,
      "output": "EtherCAT / CAN / serial; ROS",
      "open_source": false,
      "price_usd": "quote",
      "year": 2020,
      "url": "https://botasys.com/force-torque-sensors/rokubi/",
      "confidence": "medium",
      "_sources": [
        "https://botasys.com/force-torque-sensors/rokubi/"
      ]
    },
    {
      "name": "Bota SensONE",
      "maker": "Bota Systems",
      "type": "force-torque",
      "senses": "force-torque",
      "resolution": "6-axis + 6-DoF IMU; ISO 9409 flange",
      "rate_hz": 1000,
      "output": "EtherCAT / RS-422 / CAN; ROS",
      "open_source": false,
      "price_usd": "quote",
      "year": 2021,
      "url": "https://www.botasys.com/force-torque-sensors/sensone",
      "confidence": "medium",
      "_sources": [
        "https://www.botasys.com/force-torque-sensors/sensone"
      ]
    },
    {
      "name": "OnRobot HEX-E QC",
      "maker": "OnRobot (ex-OptoForce)",
      "type": "force-torque",
      "senses": "force-torque",
      "resolution": "6-axis; 200 N / 10 Nm; res ~0.2 N",
      "rate_hz": 500,
      "output": "digital via OnRobot compute box",
      "open_source": false,
      "price_usd": "~$5,000-6,000 (quote)",
      "year": 2018,
      "url": "https://onrobot.com/en/products/hex-6-axis-force-torque-sensor",
      "confidence": "medium",
      "_sources": [
        "https://onrobot.com/en/products/hex-6-axis-force-torque-sensor"
      ]
    },
    {
      "name": "SynTouch BioTac SP",
      "maker": "SynTouch",
      "type": "other",
      "senses": "both",
      "resolution": "24 electrodes + hydro-acoustic pressure + thermistor",
      "rate_hz": 100,
      "output": "force/pressure/vibration/temperature; SPI; ROS",
      "open_source": false,
      "price_usd": "quote (thousands)",
      "year": 2016,
      "url": "https://mirror.umd.edu/roswiki/SynTouch.html",
      "confidence": "medium",
      "_sources": [
        "https://mirror.umd.edu/roswiki/SynTouch.html"
      ]
    },
    {
      "name": "XELA uSkin uSPa 44",
      "maker": "XELA Robotics",
      "type": "magnetic",
      "senses": "tactile",
      "resolution": "3-axis taxels; ~4.7 mm pitch; sensitivity ~10 mN",
      "rate_hz": 100,
      "output": "3-axis force per taxel; I2C/SPI/USB/CAN; ROS",
      "open_source": false,
      "price_usd": "quote",
      "year": 2019,
      "url": "https://xelarobotics.com/products/",
      "confidence": "medium",
      "_sources": [
        "https://xelarobotics.com/products/"
      ]
    },
    {
      "name": "Contactile PapillArray",
      "maker": "Contactile",
      "type": "optical",
      "senses": "both",
      "resolution": "9 silicone pillars/array; 3D deflection/force each",
      "rate_hz": 1000,
      "output": "per-element 3D force + global 3D force/torque + vibration; USB; ROS",
      "open_source": false,
      "price_usd": "quote",
      "year": 2021,
      "url": "https://contactile.com/wp-content/uploads/2021/12/PTS_2.0_SPEC_DEC21.pdf",
      "confidence": "high",
      "_sources": [
        "https://contactile.com/wp-content/uploads/2021/12/PTS_2.0_SPEC_DEC21.pdf"
      ]
    },
    {
      "name": "Tekscan I-Scan array",
      "maker": "Tekscan",
      "type": "piezoresistive",
      "senses": "tactile",
      "resolution": "up to 1936 sensels @ 0.76 mm; 0.1 mm thick",
      "rate_hz": 100,
      "output": "normal pressure map; proprietary I-Scan; USB",
      "open_source": false,
      "price_usd": "varies (system)",
      "year": null,
      "url": "https://www.tekscan.com/tactile-pressure-sensor-solutions",
      "confidence": "medium",
      "_sources": [
        "https://www.tekscan.com/tactile-pressure-sensor-solutions"
      ]
    },
    {
      "name": "PPS DigiTacts",
      "maker": "Pressure Profile Systems",
      "type": "capacitive",
      "senses": "tactile",
      "resolution": "12-element array; 3.2-4 mm elements",
      "rate_hz": 100,
      "output": "contact pressure; I2C/SPI; USB/Bluetooth",
      "open_source": false,
      "price_usd": "quote",
      "year": null,
      "url": "https://pressureprofile.com/sensors/digitacts",
      "confidence": "medium",
      "_sources": [
        "https://pressureprofile.com/sensors/digitacts"
      ]
    },
    {
      "name": "Weiss WTS-FT 0408",
      "maker": "Weiss Robotics",
      "type": "piezoresistive",
      "senses": "tactile",
      "resolution": "4x8 taxel matrix; 52x28x26 mm",
      "rate_hz": 400,
      "output": "normal force distribution; serial/USB",
      "open_source": false,
      "price_usd": "quote",
      "year": null,
      "url": "https://www.weiss-robotics.com/de/produkte/taktile-sensorik/wts-ft/",
      "confidence": "medium",
      "_sources": [
        "https://www.weiss-robotics.com/de/produkte/taktile-sensorik/wts-ft/"
      ]
    },
    {
      "name": "PaXini PX-6AX GEN3",
      "maker": "PaXini Technology",
      "type": "magnetic",
      "senses": "both",
      "resolution": "up to 15 sensing dimensions incl. 6-axis force; dense arrays",
      "rate_hz": null,
      "output": "digital module; <0.5% FS repeatability",
      "open_source": false,
      "price_usd": "quote",
      "year": 2026,
      "url": "https://www.prnewswire.com/news-releases/paxini-unveils-the-tactile-infrastructure-for-embodied-ai-redefining-full-stack-product-matrix-at-ces-2026-302655238.html",
      "confidence": "medium",
      "_sources": [
        "https://www.prnewswire.com/news-releases/paxini-unveils-the-tactile-infrastructure-for-embodied-ai-redefining-full-stack-product-matrix-at-ces-2026-302655238.html"
      ]
    }
  ],
  "_generated": "data-refinery"
}