{ "total": 36, "limit": 50, "offset": 0, "records": [ { "fields": { "maker": [ "Lin", "Zhang et al." ], "name": "9DTact", "open_source": true, "orgs": [ "Lin", "Zhang et al." ], "output": "3D shape reconstruction + 6D force", "price_usd": { "availability": "build-cost", "basis": "per-unit", "currency": "USD", "kind": "point", "max": 15, "min": 15, "note": null, "raw": "$15 (USD, materials and fabrication cost per sensor, stated by the designers; NOT a list price, 9DTact is open hardware and is not sold)" }, "resolution": "compact 32.5x25.5x25.5 mm", "senses": [ "both" ], "status_note": "9DTact is an open-hardware sensor with no vendor, so there is no quote to gate. The designers publish the cost themselves: arXiv 2308.14277 Table I ('Comparison of GelSight, GelSlim 3.0, DIGIT, GelSight-Mini, DTact, and 9DTact') gives the row '9DTact (Ours) ... Cost[$] 15'. The table's own footnote convention marks volume figures with an asterisk ('Manufacturing of 1000 pieces') and retail figures with a dagger ('Commodity price'); the 9DTact figure carries neither, so it is the build cost of one unit. Independently corroborated by a different group: arXiv 2602.00514 (Liu et al., LVTG) reproduces the same comparison and lists 9DTact at $15. The github.com/linchangyi1/9DTact README states no cost.", "type": "vision-based-tactile", "update_note": "updated 2026-09-18 from arxiv.org: Two independent papers, the designers' own and a third party's, agree on $15. The basis is bill-of-materials, which the registry should keep visible rather than fold into a market price.", "url": "https://github.com/linchangyi1/9DTact", "year": 2023 }, "id": "sensor:9dtact", "name": "9DTact", "notes": { "_org_roles": { "Lin": [ "maker" ], "Zhang et al.": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-18", "method": "refinery-update", "source_hosts": [ "arxiv.org", "github.com" ], "source_urls": [ "https://arxiv.org/pdf/2602.00514", "https://arxiv.org/abs/2308.14277", "https://arxiv.org/html/2602.00514v3", "https://arxiv.org/html/2308.14277v1", "https://github.com/linchangyi1/9DTact" ] }, "quality": { "age_days": 0, "completeness": 1, "confidence": "high", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 2, "independent_hosts": 1, "sources": 5, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://github.com/linchangyi1/9DTact" }, { "fields": { "maker": [ "Shanghai Jiao Tong University", "Ant Group" ], "name": "AetheRock", "orgs": [ "Shanghai Jiao Tong University", "Ant Group" ], "output": "calibrated: 500-5000 mV mapped to 50-1000 gF (0.49-9.81 N), piecewise linear", "price_usd": { "availability": null, "basis": null, "currency": null, "kind": "unknown", "max": null, "min": null, "note": null, "raw": null }, "senses": [ "GelSlim-MiniFab vision gel", "resistive pressure" ], "type": "arm-worn force-capture rig", "url": "https://arxiv.org/abs/2606.09777" }, "id": "sensor:aetherock", "name": "AetheRock", "notes": { "_org_roles": { "Ant Group": [ "maker" ], "Shanghai Jiao Tong University": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-09-09", "last_seen": "2026-09-09", "method": "refinery", "source_hosts": [ "arxiv.org" ], "source_urls": [ "https://arxiv.org/abs/2606.09777" ] }, "quality": { "age_days": 9, "completeness": 1, "confidence": "high", "corroborated": false, "flags": [ "single-source", "unparsed-price_usd" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2606.09777" }, { "fields": { "maker": "New York University", "name": "AnySkin", "open_source": true, "orgs": [ "New York University" ], "output": "force/contact signal; 92% slip detection", "price_usd": { "availability": "listed", "basis": "per-unit", "currency": "USD", "kind": "point", "max": 128, "min": 128, "note": null, "raw": "$128 per unit incl. tax, third-party Enhanced edition" }, "rate_hz": 100, "resolution": "magnetometer array (ReSkin successor)", "senses": [ "tactile" ], "status_note": "WowRobo Enhanced edition linked from the AnySkin project page, not the NYU lab build; sold out when checked 2026-09-17.", "type": "magnetic", "update_note": "updated 2026-09-17 from shop.wowrobo.com: The authors' own site points buyers here, so this is the de facto purchase price. Caveat: it is a mass-produced enhanced edition by a third-party maker, not the NYU lab build, and it was out of stock. Basis USD per unit retail including tax.", "url": "https://arxiv.org/abs/2409.08276", "year": 2024 }, "id": "sensor:anyskin", "name": "AnySkin", "notes": { "_org_roles": { "New York University": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-17", "method": "refinery-update", "source_hosts": [ "arxiv.org", "shop.wowrobo.com" ], "source_urls": [ "https://shop.wowrobo.com/products/enhanced-anyskin-premium-crafted-editionwowskin", "https://arxiv.org/abs/2409.08276" ] }, "quality": { "age_days": 1, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2409.08276" }, { "fields": { "maker": "Carnegie Mellon University", "name": "ART-Glove", "orgs": [ "Carnegie Mellon University" ], "output": "normal contact magnitude only; paper states force calibration across curved surfaces remains future work", "price_usd": { "availability": null, "basis": null, "currency": null, "kind": "unknown", "max": null, "min": null, "note": null, "raw": null }, "senses": [ "2048 piezoresistive taxels", "22-DoF encoders at 120 Hz" ], "type": "wearable force-capture glove", "url": "https://arxiv.org/abs/2606.16370" }, "id": "sensor:art-glove", "name": "ART-Glove", "notes": { "_org_roles": { "Carnegie Mellon University": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-09-09", "last_seen": "2026-09-17", "method": "refinery-corroborate", "source_hosts": [ "arxiv.org", "hackster.io" ], "source_urls": [ "https://www.hackster.io/news/robots-can-see-but-cmu-s-new-glove-teaches-them-to-feel-f8a6a19d5082", "https://arxiv.org/abs/2606.16370" ] }, "quality": { "age_days": 1, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [ "unparsed-price_usd" ], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2606.16370" }, { "fields": { "maker": "ATI", "name": "ATI Mini45", "open_source": false, "orgs": [ "ATI" ], "output": "analog / EtherCAT via controller", "price_usd": { "availability": "listed", "basis": "per-unit", "currency": "USD", "kind": "point", "max": 6675, "min": 6675, "note": null, "raw": "$6,675 per unit, reseller list price at single quantity" }, "rate_hz": 7000, "resolution": "6-axis; Ø45 mm; ~580 N / 20 Nm", "senses": [ "force-torque" ], "status_note": "Reseller E-Motion Supply list price, SKU 9105-TW-MINI45-R-5-IP65, found 2026-09-17. Calibration plus Net F/T box bundle adds $2,650. ATI's own page still says contact for pricing.", "type": "force-torque", "update_note": "updated 2026-09-17 from e-motionsupply.com: The price is not quote-only: an ATI distributor publishes it. Basis is USD per unit at single quantity, reseller list (not a negotiated or academic price). ATI's own page (ati.novanta.com) still says contact for pricing. Ingest records this as a source only: sensor price_usd is not in UPDATABLE, so moving the value needs a code change.", "url": "https://ati.novanta.com/product/mini45-force-torque-sensor", "year": null }, "id": "sensor:ati-mini45", "name": "ATI Mini45", "notes": { "_org_roles": { "ATI": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-17", "method": "refinery-update", "source_hosts": [ "ati.novanta.com", "e-motionsupply.com" ], "source_urls": [ "https://www.e-motionsupply.com/product_p/9105-tw-mini45-r-5-ip65.htm", "https://ati.novanta.com/product/mini45-force-torque-sensor" ] }, "quality": { "age_days": 1, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://ati.novanta.com/product/mini45-force-torque-sensor" }, { "fields": { "maker": "ATI", "name": "ATI Nano17", "open_source": false, "orgs": [ "ATI" ], "output": "analog / EtherCAT / CAN / USB via ATI controller", "price_usd": { "availability": "quote-only", "basis": null, "currency": "USD", "kind": "range", "max": 8000, "min": 4000, "note": null, "raw": "~$4,000-8,000 (quote)" }, "rate_hz": 7000, "resolution": "6-axis; Ø17 mm; up to ~50 N / 0.5 Nm", "senses": [ "force-torque" ], "type": "force-torque", "url": "https://ati.novanta.com/product/nano17-force-torque-sensor", "year": 2003 }, "id": "sensor:ati-nano17", "name": "ATI Nano17", "notes": { "_org_roles": { "ATI": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-08-14", "method": "import", "source_hosts": [ "ati.novanta.com" ], "source_urls": [ "https://ati.novanta.com/product/nano17-force-torque-sensor" ] }, "quality": { "age_days": 35, "completeness": 1, "confidence": "medium", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://ati.novanta.com/product/nano17-force-torque-sensor" }, { "fields": { "maker": "Bota Systems", "name": "Bota Rokubi", "open_source": false, "orgs": [ "Bota Systems" ], "output": "EtherCAT / CAN / serial; ROS", "price_usd": { "availability": "listed", "basis": null, "currency": "CHF", "kind": "point", "max": 5407.5, "min": 5407.5, "note": null, "raw": "CHF 5,407.50 (list, one unit, Bota Systems' own online shop; the EtherCAT in/out variant is CHF 5,827.50, and a calibration certificate adds CHF 1,100.00)" }, "rate_hz": 1000, "resolution": "6-axis + 6-DoF IMU; 120 g", "senses": [ "force-torque" ], "status_note": "The maker publishes a price after all, just not on the page the registry cites. botasys.com/force-torque-sensors/rokubi says only 'Get a Quote', but Bota runs a storefront at shop.botasys.com that lists Rokubi Gen A with an Add to Cart button and a figure. Currency is Swiss francs; no USD figure is published. Basis is a single unit of the Rokubi Gen A series 6-axis F/T sensor supplied with 3m cable and accessories. The product page states 'Pricing scales with quantity, for lower price request a quote' and 'Shipping: 1-2 weeks for 1 unit', so this is the one-off list price and the ceiling, not a volume price. The same shop prices MiniONE Gen A at CHF 3,045.00 and SensONE Gen A at CHF 4,882.50; MimX, PixONE, LaxONE, SensONE T80 and MegaONE remain quote-only.", "type": "force-torque", "update_note": "updated 2026-09-18 from shop.botasys.com: Best result of this vein. The vendor's marketing site and the vendor's shop disagree about whether the price is public, and the shop wins.", "url": "https://botasys.com/force-torque-sensors/rokubi", "year": 2020 }, "id": "sensor:bota-rokubi", "name": "Bota Rokubi", "notes": { "_org_roles": { "Bota Systems": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-18", "method": "refinery-update", "source_hosts": [ "botasys.com", "shop.botasys.com" ], "source_urls": [ "https://botasys.com/force-torque-sensors/rokubi", "https://shop.botasys.com/shop/force-torque-sensors-4/rokubi-gen-a-2213" ] }, "quality": { "age_days": 0, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://botasys.com/force-torque-sensors/rokubi" }, { "fields": { "maker": "Bota Systems", "name": "Bota SensONE", "open_source": false, "orgs": [ "Bota Systems" ], "output": "EtherCAT / RS-422 / CAN; ROS", "price_usd": { "availability": "listed", "basis": "per-unit", "currency": "EUR", "kind": "range", "max": 5810, "min": 5050, "note": null, "raw": "EUR 5,050 to 5,810 per kit excl. VAT, reseller list price (Serial to EtherCAT cobot kit, Unchained Robotics)" }, "rate_hz": 1000, "resolution": "6-axis + 6-DoF IMU; ISO 9409 flange", "senses": [ "force-torque" ], "status_note": "Reseller list price found 2026-09-17; Bota's own shop lists SensONE Gen A at CHF 4,882.50 to 5,617.50 (same-group).", "type": "force-torque", "update_note": "updated 2026-09-17 from unchainedrobotics.de: Not quote-only. Two currencies and two bases: EUR per cobot kit excluding VAT at an independent reseller, CHF per sensor on the vendor's own pricelist. No USD conversion recorded because neither source gives one.", "url": "https://www.botasys.com/force-torque-sensors/sensone", "year": 2021 }, "id": "sensor:bota-sensone", "name": "Bota SensONE", "notes": { "_org_roles": { "Bota Systems": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-17", "method": "refinery-update", "source_hosts": [ "botasys.com", "unchainedrobotics.de" ], "source_urls": [ "https://unchainedrobotics.de/en/brands/bota-systems", "https://www.botasys.com/force-torque-sensors/sensone" ] }, "quality": { "age_days": 1, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://www.botasys.com/force-torque-sensors/sensone" }, { "fields": { "maker": "Contactile", "name": "Contactile PapillArray", "open_source": false, "orgs": [ "Contactile" ], "output": "per-element 3D force + global 3D force/torque + vibration; USB; ROS", "price_usd": { "availability": "listed", "basis": "per-unit", "currency": "INR", "kind": "point", "max": 220000, "min": 220000, "note": null, "raw": "INR 220,000 per sensor array without development board, reseller listing (IndiaMART, Gurugram)" }, "rate_hz": 1000, "resolution": "9 silicone pillars/array; 3D deflection/force each", "senses": [ "both" ], "status_note": "Reseller listing found 2026-09-17; no USD conversion recorded because the source gives none.", "type": "optical", "update_note": "updated 2026-09-17 from indiamart.com: First non-quote figure for PapillArray. Basis is INR per sensor array from an Indian distributor marketplace listing; such listings can be indicative and may include import duty and local taxes. Roughly USD 2,600 at mid-2026 rates, but that conversion is ours, not the source's. Contactile's own site remains quote-only. The dev kit (two 3x3 arrays plus control", "url": "https://contactile.com/wp-content/uploads/2021/12/PTS_2.0_SPEC_DEC21.pdf", "year": 2021 }, "id": "sensor:contactile-papillarray", "name": "Contactile PapillArray", "notes": { "_org_roles": { "Contactile": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-17", "method": "refinery-update", "source_hosts": [ "contactile.com", "indiamart.com" ], "source_urls": [ "https://contactile.com/wp-content/uploads/2021/12/PTS_2.0_SPEC_DEC21.pdf", "https://www.indiamart.com/proddetail/contactile-papillarray-tactile-sensor-array-2854739204797.html" ] }, "quality": { "age_days": 1, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://contactile.com/wp-content/uploads/2021/12/PTS_2.0_SPEC_DEC21.pdf" }, { "fields": { "maker": [ "Meta", "GelSight" ], "name": "DIGIT", "open_source": true, "orgs": [ "Meta", "GelSight" ], "output": "tactile RGB deformation image", "price_usd": { "availability": "build-cost", "basis": null, "currency": "USD", "kind": "point", "max": 15, "min": 15, "note": null, "raw": "~$15 BOM (self-build); sold via GelSight" }, "rate_hz": 60, "resolution": "VGA 640x480; ~19x16 mm area", "senses": [ "tactile" ], "type": "vision-based-tactile", "url": "https://digit.ml/digit.html", "year": 2020 }, "id": "sensor:digit", "name": "DIGIT", "notes": { "_org_roles": { "GelSight": [ "maker" ], "Meta": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-08-14", "method": "import", "source_hosts": [ "digit.ml" ], "source_urls": [ "https://digit.ml/digit.html" ] }, "quality": { "age_days": 35, "completeness": 1, "confidence": "medium", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://digit.ml/digit.html" }, { "fields": { "maker": [ "Meta", "GelSight" ], "name": "DIGIT 360", "open_source": true, "orgs": [ "Meta", "GelSight" ], "output": "omnidirectional tactile field; forces to ~1 mN; multimodal (vibration, heat, gas)", "price_usd": { "availability": "listed", "basis": null, "currency": null, "kind": "unparsed", "max": null, "min": null, "note": "no numeric value present in source string", "raw": "research (not public)" }, "rate_hz": null, "resolution": "~8.3M taxels; detail to ~7 microns; omnidirectional", "senses": [ "both" ], "type": "vision-based-tactile", "url": "https://digit.ml/digit360.html", "year": 2024 }, "id": "sensor:digit-360", "name": "DIGIT 360", "notes": { "_org_roles": { "GelSight": [ "maker" ], "Meta": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-17", "method": "refinery-corroborate", "source_hosts": [ "digit.ml", "interestingengineering.com" ], "source_urls": [ "https://interestingengineering.com/innovation/robots-to-get-human-like-touch-dexterity-with-metas-new-technology", "https://digit.ml/digit360.html" ] }, "quality": { "age_days": 1, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [ "unparsed-price_usd" ], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://digit.ml/digit360.html" }, { "fields": { "maker": "New York University", "name": "eFlesh", "open_source": true, "orgs": [ "New York University" ], "output": "normal force (RMSE 0.27 N), shear (0.12 N), contact loc., slip (95%)", "price_usd": { "availability": "qualitative", "basis": null, "currency": "USD", "kind": "cap", "max": 5, "min": null, "note": null, "raw": "<$5 magnets (DIY)" }, "rate_hz": null, "resolution": "cut-cell microstructure; contact RMSE 0.5 mm", "senses": [ "tactile" ], "type": "magnetic", "url": "https://e-flesh.com/", "year": 2025 }, "id": "sensor:eflesh", "name": "eFlesh", "notes": { "_org_roles": { "New York University": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-08-14", "method": "import", "source_hosts": [ "e-flesh.com" ], "source_urls": [ "https://e-flesh.com/" ] }, "quality": { "age_days": 35, "completeness": 1, "confidence": "medium", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://e-flesh.com/" }, { "fields": { "maker": [ "New York University", "UC Berkeley" ], "name": "Feel the Force (FTF) tactile glove", "orgs": [ "New York University", "UC Berkeley" ], "output": "sensor norm; newtons shown only via a 0-5 N weighing-scale demo, policy consumes the norm", "price_usd": { "availability": null, "basis": null, "currency": null, "kind": "unknown", "max": null, "min": null, "note": null, "raw": null }, "senses": [ "fingertip normal+shear (AnySkin magnetic)" ], "type": "wearable force-capture glove", "url": "https://arxiv.org/abs/2506.01944" }, "id": "sensor:feel-the-force-ftf-tactile-glove", "name": "Feel the Force (FTF) tactile glove", "notes": { "_org_roles": { "New York University": [ "maker" ], "UC Berkeley": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-09-09", "last_seen": "2026-09-09", "method": "refinery", "source_hosts": [ "arxiv.org" ], "source_urls": [ "https://arxiv.org/abs/2506.01944" ] }, "quality": { "age_days": 9, "completeness": 1, "confidence": "high", "corroborated": false, "flags": [ "single-source", "unparsed-price_usd" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2506.01944" }, { "fields": { "maker": [ "Amazon FAR", "University of Maryland", "Johns Hopkins" ], "name": "ForceBand", "orgs": [ "Amazon FAR", "University of Maryland", "Johns Hopkins" ], "output": "per-finger force in newtons after a 15-minute per-user calibration against fingertip force sensors", "price_usd": { "availability": "build-cost", "basis": null, "currency": "USD", "kind": "point", "max": 300, "min": 300, "note": null, "raw": "$300 (USD, 'as low as', total build cost of one band from an open bill of materials, stated by the designers; NOT a list price, ForceBand is not sold)" }, "senses": [ "sEMG", "IMU", "per-finger force via EMG2Force" ], "status_note": "arXiv 2606.26093 states: 'The mechanical structure can be fabricated with common tools such as a commercial 3D printer, while the electronics are modular and sourced from readily available parts. The total cost can be as low as $300 depending on supplier. We open-source the complete bill of materials.' Unit basis is one assembled band; the figure is a floor ('as low as', 'depending on supplier'), not a point value, and excludes labour and the 3D printer.", "type": "sEMG wristband, force inferred not measured", "update_note": "updated 2026-09-18 from arxiv.org: Publishes a floor, not a point. The registry's money value object should carry it as a floor with availability 'build cost, open BOM'.", "url": "https://arxiv.org/abs/2606.26093" }, "id": "sensor:forceband", "name": "ForceBand", "notes": { "_org_roles": { "Amazon FAR": [ "maker" ], "Johns Hopkins": [ "maker" ], "University of Maryland": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-09-09", "last_seen": "2026-09-18", "method": "refinery-update", "source_hosts": [ "arxiv.org" ], "source_urls": [ "https://arxiv.org/abs/2606.26093", "https://arxiv.org/html/2606.26093v1" ] }, "quality": { "age_days": 0, "completeness": 1, "confidence": "high", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 1, "independent_hosts": 0, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2606.26093" }, { "fields": { "maker": "Carnegie Mellon University", "name": "GelBelt", "open_source": null, "orgs": [ "Carnegie Mellon University" ], "output": "surface normal map (large-surface scanning)", "price_usd": { "availability": "listed", "basis": null, "currency": null, "kind": "unparsed", "max": null, "min": null, "note": "no numeric value present in source string", "raw": "research (not sold)" }, "rate_hz": null, "resolution": "continuous elastomer belt; scans up to 45 mm/s", "senses": [ "tactile" ], "type": "vision-based-tactile", "url": "https://arxiv.org/abs/2501.06263", "year": 2025 }, "id": "sensor:gelbelt", "name": "GelBelt", "notes": { "_org_roles": { "Carnegie Mellon University": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-08-14", "method": "import", "source_hosts": [ "arxiv.org" ], "source_urls": [ "https://arxiv.org/abs/2501.06263" ] }, "quality": { "age_days": 35, "completeness": 1, "confidence": "medium", "corroborated": false, "flags": [ "single-source", "unparsed-price_usd" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2501.06263" }, { "fields": { "maker": "GelSight Inc.", "name": "GelSight benchtop", "open_source": false, "orgs": [ "GelSight Inc." ], "output": "tactile image + 3D topography", "price_usd": { "availability": "quote-only", "basis": null, "currency": null, "kind": "none", "max": null, "min": null, "note": null, "raw": "enterprise (quote)" }, "rate_hz": 30, "resolution": "micron-scale 3D topography", "senses": [ "tactile" ], "type": "vision-based-tactile", "url": "https://www.gelsight.com/", "year": 2016 }, "id": "sensor:gelsight-benchtop", "name": "GelSight benchtop", "notes": { "_org_roles": { "GelSight Inc.": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-08-14", "method": "import", "source_hosts": [ "gelsight.com" ], "source_urls": [ "https://www.gelsight.com/" ] }, "quality": { "age_days": 35, "completeness": 1, "confidence": "medium", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://www.gelsight.com/" }, { "fields": { "maker": "GelSight Inc.", "name": "GelSight Mini", "open_source": false, "orgs": [ "GelSight Inc." ], "output": "tactile image + 3D depth/normal map", "price_usd": { "availability": "listed", "basis": null, "currency": "USD", "kind": "point", "max": 510, "min": 510, "note": null, "raw": "$510.00 (list, gelsight.com, read 2026-09-18; was ~$499 at launch)" }, "rate_hz": 25, "resolution": "8 MP camera; ~0.06 mm/px depth map", "senses": [ "tactile" ], "status_note": "Price re-read on the maker's own store 2026-09-18: $510.00. The $499 figure is the launch price and is corroborated for that date by an independent table (arXiv 2602.00514, Liu et al.).", "type": "vision-based-tactile", "update_note": "updated 2026-09-18 from gelsight.com: A price with no as-of date reads as current. This one had drifted.", "url": "https://www.gelsight.com/product/gelsight-mini-system", "year": 2022 }, "id": "sensor:gelsight-mini", "name": "GelSight Mini", "notes": { "_org_roles": { "GelSight Inc.": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-18", "method": "refinery-update", "source_hosts": [ "arxiv.org", "gelsight.com" ], "source_urls": [ "https://arxiv.org/html/2602.00514v3", "https://arxiv.org/pdf/2602.00514", "https://www.gelsight.com/product/gelsight-mini-system" ] }, "quality": { "age_days": 0, "completeness": 1, "confidence": "high", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 2, "independent_hosts": 1, "sources": 3, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://www.gelsight.com/product/gelsight-mini-system" }, { "fields": { "maker": "Massachusetts Institute of Technology", "name": "GelSlim 3.0", "open_source": true, "orgs": [ "Massachusetts Institute of Technology" ], "output": "3D shape depth + 3D force distribution + slip", "price_usd": { "availability": "build-cost", "basis": "per-unit", "currency": "USD", "kind": "point", "max": 25, "min": 25, "note": null, "raw": "$25 (USD, component cost per unit, considering manufacture of 1000 pieces, stated by the designers; NOT a list price, GelSlim 3.0 is not sold)" }, "rate_hz": 30, "resolution": "high-res compact finger", "senses": [ "both" ], "status_note": "arXiv 2103.12269 Table I, 'Comparison of GelSlim 3.0, GelSlim 2.0, GelSight, Digit and Omnitact', row 'Cost Components [$]' gives GelSlim 3.0 = 25*, with the table footnote '(*Considering the manufacturing of 1000 pieces)'. The same table gives GelSight 30 and Digit 15*, and Omnitact 600. The unit basis is therefore components only, at 1000-unit volume, excluding assembly and labour. Corroborated independently: arXiv 2602.00514 Table I reproduces GelSlim 3.0 at 25* with the same 1000-piece footnote. The paper's own discussion confirms the intent, saying the design has a 'comparable thickness and price point to the smallest available sensor Digit'.", "type": "vision-based-tactile", "update_note": "updated 2026-09-18 from arxiv.org: A volume component cost, not a price a buyer could pay. Recorded with the volume basis attached because $25 read as a unit price would be badly misleading.", "url": "https://arxiv.org/abs/2103.12269", "year": 2021 }, "id": "sensor:gelslim-30", "name": "GelSlim 3.0", "notes": { "_org_roles": { "Massachusetts Institute of Technology": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-18", "method": "refinery-update", "source_hosts": [ "arxiv.org" ], "source_urls": [ "https://arxiv.org/abs/2103.12269", "https://arxiv.org/html/2103.12269v1" ] }, "quality": { "age_days": 0, "completeness": 1, "confidence": "high", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 1, "independent_hosts": 0, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2103.12269" }, { "fields": { "maker": "Tzah Sarusi", "name": "GIFT sensing glove", "notes": "Human-worn capture glove, no robot present during collection. 73 sessions, 38,150 frames. Deployment-side force comes from actuator-current residuals on a TetherIA Aero Hand Open with no tactile sensors. With force inputs the policy held at 1.20 N median vs 2.55 N without, at identical 25/25 success.", "orgs": [ "Tzah Sarusi" ], "output": "5 FSRs + 5 flex sensors + WitMotion IMU, read by a Seeed XIAO ESP32-S3 over USB serial", "price_usd": { "availability": null, "basis": null, "currency": null, "kind": "unknown", "max": null, "min": null, "note": null, "raw": null }, "senses": [ "fingertip normal force calibrated to newtons", "finger flexion", "wrist orientation", "no shear" ], "type": "force-sensitive resistor glove", "url": "https://arxiv.org/abs/2609.14173" }, "id": "sensor:gift-sensing-glove", "name": "GIFT sensing glove", "notes": { "_org_roles": { "Tzah Sarusi": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-09-16", "last_seen": "2026-09-16", "method": "refinery", "source_hosts": [ "arxiv.org" ], "source_urls": [ "https://arxiv.org/abs/2609.14173" ] }, "quality": { "age_days": 2, "completeness": 1, "confidence": "high", "corroborated": false, "flags": [ "single-source", "unparsed-price_usd" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2609.14173" }, { "fields": { "maker": "OnRobot", "name": "OnRobot HEX-E QC", "open_source": false, "orgs": [ "OnRobot" ], "output": "digital via OnRobot compute box", "price_usd": { "availability": "quote-only", "basis": null, "currency": "USD", "kind": "range", "max": 6000, "min": 5000, "note": null, "raw": "~$5,000-6,000 (quote)" }, "rate_hz": 500, "resolution": "6-axis; 200 N / 10 Nm; res ~0.2 N", "senses": [ "force-torque" ], "type": "force-torque", "url": "https://onrobot.com/en/products/hex-6-axis-force-torque-sensor", "year": 2018 }, "id": "sensor:onrobot-hex-e-qc", "name": "OnRobot HEX-E QC", "notes": { "_org_roles": { "OnRobot": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-08-14", "method": "import", "source_hosts": [ "onrobot.com" ], "source_urls": [ "https://onrobot.com/en/products/hex-6-axis-force-torque-sensor" ] }, "quality": { "age_days": 35, "completeness": 1, "confidence": "medium", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://onrobot.com/en/products/hex-6-axis-force-torque-sensor" }, { "fields": { "maker": [ "Meta", "University of Pennsylvania", "University of Michigan" ], "name": "OSMO tactile glove", "orgs": [ "Meta", "University of Pennsylvania", "University of Michigan" ], "output": "force signal, newton calibration not stated", "price_usd": { "availability": "listed", "basis": "per-unit", "currency": "USD", "kind": "point", "max": 780, "min": 780, "note": null, "raw": "$780 per kit, reseller list price, skin plus electronics only" }, "senses": [ "12 three-axis magnetic taxels", "shear+normal" ], "status_note": "WowRobo Robotics third-party kit found 2026-09-17: skin only $100, electronics set (main board plus 12 sensor boards) $700, both $780; lead time 3 to 4 weeks. Not a complete glove, remaining BOM parts excluded.", "type": "wearable force-capture glove", "update_note": "updated 2026-09-17 from shop.wowrobo.com: Third-party maker, not the Meta/UPenn/UMich authors; the OSMO project site and GitHub README do not link to or mention this shop, so it is independent of the paper. Basis: USD per kit at single quantity, retail list, excluding the glove and remaining BOM parts, so the true build cost is somewhat higher.", "url": "https://arxiv.org/abs/2512.08920" }, "id": "sensor:osmo-tactile-glove", "name": "OSMO tactile glove", "notes": { "_org_roles": { "Meta": [ "maker" ], "University of Michigan": [ "maker" ], "University of Pennsylvania": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-09-09", "last_seen": "2026-09-17", "method": "refinery-update", "source_hosts": [ "arxiv.org", "shop.wowrobo.com" ], "source_urls": [ "https://shop.wowrobo.com/products/osmo-tactile-glove", "https://arxiv.org/abs/2512.08920" ] }, "quality": { "age_days": 1, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2512.08920" }, { "fields": { "maker": "PaXini Technology", "name": "PaXini PX-6AX GEN3", "open_source": false, "orgs": [ "PaXini Technology" ], "output": "digital module; <0.5% FS repeatability", "price_usd": { "availability": "quote-only", "basis": null, "currency": null, "kind": "none", "max": null, "min": null, "note": "source states the value was not disclosed", "raw": "quote" }, "rate_hz": null, "resolution": "up to 15 sensing dimensions incl. 6-axis force; dense arrays", "senses": [ "both" ], "type": "magnetic", "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", "year": 2026 }, "id": "sensor:paxini-px-6ax-gen3", "name": "PaXini PX-6AX GEN3", "notes": { "_org_roles": { "PaXini Technology": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-08-14", "method": "import", "source_hosts": [ "prnewswire.com" ], "source_urls": [ "https://www.prnewswire.com/news-releases/paxini-unveils-the-tactile-infrastructure-for-embodied-ai-redefining-full-stack-product-matrix-at-ces-2026-302655238.html" ] }, "quality": { "age_days": 35, "completeness": 1, "confidence": "medium", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "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" }, { "fields": { "conflict_note": "independent source pressureprofile.com disagrees: Model number. The manufacturer lists the 180-element 18x10, 30x56 mm wrist array as Model 6383; the Meta paper (arXiv 2609.16518 html) and the record call it '#6863'. Every physical spec matches (180 taxels, 10x18 grid, ~3x3 mm element, 30x56 mm active area), so this is very likely a digit transposition in the paper carried into the record name. Minor: element size is 3.1 x 3 mm, not 3x3.", "maker": "Pressure Profile Systems", "name": "PPS #6863 capacitive pressure array", "orgs": [ "Pressure Profile Systems" ], "output": "180 taxels per array; 3-array wristband 540 taxels ~50 Hz, 4-array 720 taxels ~45 Hz", "senses": [ "normal pressure", "10x18 grid", "~3x3 mm per taxel", "30x56 mm active area" ], "type": "capacitive pressure array", "url": "https://arxiv.org/abs/2609.16518" }, "id": "sensor:pps-6863-capacitive-pressure-array", "name": "PPS #6863 capacitive pressure array", "notes": { "_org_roles": { "Pressure Profile Systems": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-09-17", "last_seen": "2026-09-17", "method": "primary-source", "source_hosts": [ "arxiv.org", "pressureprofile.com" ], "source_urls": [ "https://arxiv.org/html/2609.16518v1", "https://pressureprofile.com/body-pressure-mapping/wrist-sensor", "https://arxiv.org/abs/2609.16518" ] }, "quality": { "age_days": 1, "completeness": 0.857, "confidence": "high", "corroborated": true, "flags": [ "conflicted" ], "grade": "B", "hosts": 2, "independent_hosts": 2, "sources": 3, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2609.16518" }, { "fields": { "maker": "Pressure Profile Systems", "name": "PPS capacitive tactile glove (Glove 1, arXiv 2607.22964)", "orgs": [ "Pressure Profile Systems" ], "output": "measured MDF 41.80 gF (0.410 N) tactile-only, 37.44 gF pose-corrected, vs ATI Nano17 0.32 gF floor", "price_usd": { "availability": null, "basis": null, "currency": null, "kind": "unknown", "max": null, "min": null, "note": null, "raw": null }, "senses": [ "capacitive fingertip taxels" ], "type": "wearable force-capture glove", "url": "https://arxiv.org/abs/2607.22964" }, "id": "sensor:pps-capacitive-tactile-glove-glove-1-arxiv-260722964", "name": "PPS capacitive tactile glove (Glove 1, arXiv 2607.22964)", "notes": { "_org_roles": { "Pressure Profile Systems": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-09-09", "last_seen": "2026-09-09", "method": "refinery", "source_hosts": [ "arxiv.org" ], "source_urls": [ "https://arxiv.org/abs/2607.22964" ] }, "quality": { "age_days": 9, "completeness": 1, "confidence": "high", "corroborated": false, "flags": [ "single-source", "unparsed-price_usd" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2607.22964" }, { "fields": { "maker": "Pressure Profile Systems", "name": "PPS DigiTacts", "open_source": false, "orgs": [ "Pressure Profile Systems" ], "output": "contact pressure; I2C/SPI; USB/Bluetooth", "price_usd": { "availability": "quote-only", "basis": null, "currency": null, "kind": "none", "max": null, "min": null, "note": "source states the value was not disclosed", "raw": "quote" }, "rate_hz": 100, "resolution": "12-element array; 3.2-4 mm elements", "senses": [ "tactile" ], "type": "capacitive", "url": "https://pressureprofile.com/sensors/digitacts", "year": null }, "id": "sensor:pps-digitacts", "name": "PPS DigiTacts", "notes": { "_org_roles": { "Pressure Profile Systems": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-08-14", "method": "import", "source_hosts": [ "pressureprofile.com" ], "source_urls": [ "https://pressureprofile.com/sensors/digitacts" ] }, "quality": { "age_days": 35, "completeness": 1, "confidence": "medium", "corroborated": false, "flags": [ "single-source" ], "grade": "B", "hosts": 1, "independent_hosts": 1, "sources": 1, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://pressureprofile.com/sensors/digitacts" }, { "fields": { "maker": "Pressure Profile Systems", "name": "PPS tactile glove (65 taxels)", "orgs": [ "Pressure Profile Systems" ], "output": "100 Hz over Bluetooth; ~35 ms fixed latency and random-walk drift up to ~1 s per 10 min recording", "senses": [ "normal force only", "no shear", "65 taxels across fingers", "palm", "at least 8 per finger" ], "type": "tactile glove", "url": "https://arxiv.org/abs/2609.16518" }, "id": "sensor:pps-tactile-glove-65-taxels", "name": "PPS tactile glove (65 taxels)", "notes": { "_org_roles": { "Pressure Profile Systems": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-09-17", "last_seen": "2026-09-17", "method": "primary-source", "source_hosts": [ "arxiv.org", "pressureprofile.com" ], "source_urls": [ "https://arxiv.org/html/2609.16518v1", "https://pressureprofile.com/tactile-glove", "https://arxiv.org/abs/2609.16518" ] }, "quality": { "age_days": 1, "completeness": 0.857, "confidence": "high", "corroborated": true, "flags": [], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 3, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://arxiv.org/abs/2609.16518" }, { "fields": { "maker": [ "Meta", "Carnegie Mellon University" ], "name": "ReSkin", "open_source": true, "orgs": [ "Meta", "Carnegie Mellon University" ], "output": "contact location + 3-axis force", "price_usd": { "availability": "listed", "basis": null, "currency": "USD", "kind": "cap", "max": 6, "min": null, "note": null, "raw": "<$6/unit at 100-unit volume" }, "rate_hz": 400, "resolution": "~1 mm; 5-magnetometer array; 2-3 mm thick", "senses": [ "tactile" ], "type": "magnetic", "url": "https://ai.meta.com/blog/reskin-a-versatile-replaceable-low-cost-skin-for-ai-research-on-tactile-perception", "year": 2021 }, "id": "sensor:reskin", "name": "ReSkin", "notes": { "_org_roles": { "Carnegie Mellon University": [ "maker" ], "Meta": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-17", "method": "refinery-corroborate", "source_hosts": [ "ai.meta.com", "staceyoniot.com" ], "source_urls": [ "https://staceyoniot.com/metas-flexible-reskin-sensor-has-untapped-potential-in-the-smart-home", "https://ai.meta.com/blog/reskin-a-versatile-replaceable-low-cost-skin-for-ai-research-on-tactile-perception" ] }, "quality": { "age_days": 1, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://ai.meta.com/blog/reskin-a-versatile-replaceable-low-cost-skin-for-ai-research-on-tactile-perception" }, { "fields": { "maker": "Robotiq", "name": "Robotiq FT 300-S", "open_source": false, "orgs": [ "Robotiq" ], "output": "USB / RS-485 (Modbus RTU); ROS", "price_usd": { "availability": "listed", "basis": null, "currency": "USD", "kind": "range", "max": 8000, "min": 5000, "note": null, "raw": "~$5,000-8,000" }, "rate_hz": 100, "resolution": "6-axis; +-300 N / +-30 Nm; IP65", "senses": [ "force-torque" ], "type": "force-torque", "url": "https://robotiq.com/products/ft-300-force-torque-sensor", "year": 2019 }, "id": "sensor:robotiq-ft-300-s", "name": "Robotiq FT 300-S", "notes": { "_org_roles": { "Robotiq": [ "maker" ] } }, "provenance": { "consent_license": "public", "first_seen": "2026-08-14", "last_seen": "2026-09-17", "method": "refinery-corroborate", "source_hosts": [ "kingbarcode.com", "robotiq.com" ], "source_urls": [ "https://robotiq.com/products/ft-300-force-torque-sensor", "https://www.kingbarcode.com/FTS-300-S-KIT-001" ] }, "quality": { "age_days": 1, "completeness": 1, "confidence": "high", "corroborated": true, "flags": [], "grade": "A", "hosts": 2, "independent_hosts": 2, "sources": 2, "stale": false, "stale_after_days": 365 }, "type": "sensor", "url": "https://robotiq.com/products/ft-300-force-torque-sensor" }, { "fields": { "maker": "SynTouch", "name": "SynTouch BioTac SP", "open_source": false, "orgs": [ "SynTouch" ], "output": "force/pressure/vibration/temperature; 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