Paxini PX-6AX GEN3
High-resolution 6-axis force/torque tactile sensor for contact-rich robot manipulation. Fingertip, finger-pad, and palm variants. USB interface via PXSR software.
Sense Every Contact
The PX-6AX GEN3 resolves contact forces and torques along all six spatial axes — Fx, Fy, Fz (translational) and Tx, Ty, Tz (rotational). A 2D taxel array gives spatial pressure distribution, enabling slip detection, grasp stability monitoring, and contact centroid estimation far beyond what a single-axis load cell can offer.
Contact-Rich Manipulation
Detect slip, estimate object stiffness, and maintain stable grasps using real-time 6-axis feedback from fingertip sensors during dexterous manipulation.
Imitation Learning Data
Record synchronised tactile episodes on the Fearless Platform alongside joint and camera streams for behavior cloning and reinforcement learning datasets.
Full-Hand Coverage
The 10-channel SPI hub connects up to 10 sensor tiles simultaneously — thumb tip, index tip, palm, and more — at 100+ Hz aggregate throughput.
Setup Journey
From unboxing to live data streaming. Follow each step in order.
Mounting
Attach sensor tile to fingertip, finger pad, or palm mount on your robot hand
Wiring & Communication Board
Connect ribbon cable to board; plug USB to Windows x64 host
Driver & PXSR Software
Install PXSR v1.0.7 to register USB driver and launch visualisation
Sensor Calibration
Load variant XLSX coordinate file; establish zero-load baseline
Data Streaming Verification
Confirm live 6-axis force/torque readings and taxel heatmap in PXSR
ROS2 Integration
Bridge sensor data to ROS2 topics using Python pyserial wrapper
Hardware at a Glance
Specifications by Sensor Zone
Each PX-6AX GEN3 variant is optimized for a specific mounting location on the robot hand. Key parameters vary by zone.
Signal Processing Pipeline
From raw sensor data to actionable contact state estimates, the PX-6AX GEN3 pipeline runs in real-time.
1. Raw Acquisition
SPI hub reads up to 10 sensor tiles. Each tile outputs 6 raw F/T channels + 2D taxel array. Data streams over USB to the host at the tile's native update rate.
2. Filtering & Calibration
Apply zero-load offset subtraction (from calibration XLSX), then low-pass Butterworth filter at 50 Hz cutoff. ROS2 node publishes filtered /paxini/wrench (geometry_msgs/WrenchStamped) and /paxini/taxels (Float32MultiArray).
3. Contact State Estimation
Compute contact centroid, total normal force, and slip indicator from the taxel array. Publish as /paxini/contact_state (custom msg). Use for grasp stability monitoring and reactive control.
ROS2 Topic Overview
Use Case Examples
Peg-in-Hole Insertion
Use fingertip (DP) sensors to detect initial contact, then servo on the tactile centroid to align the peg with the hole. The 1.5 mm spatial resolution resolves sub-millimeter misalignment.
Egg / Fragile Object Handling
Palm (MC) and finger-pad sensors monitor grip force in real-time. Set a force threshold at 5 N to prevent crushing. The slip detector triggers tighter grip only when needed.
Fabric / Deformable Manipulation
The 2D taxel array captures contact shape changes as fabric deforms. Finger-pad (IP/CP) sensors detect when fabric is slipping or bunching during folding tasks.
Services for Paxini GEN3
Data Collection Service
SVRC collects tactile-rich demonstrations at our labs. You receive synchronized F/T + joint + camera episodes.
Hardware Leasing
Lease sensor kits (fingertip + palm + hub board) monthly. Includes calibration files and support.
Repair & Recalibration
Sensor tile replacement, cable repair, and recalibration service. Turnaround: 3-5 business days.
Related Guides
Technical Resources
Research articles and documentation covering tactile sensing for robot manipulation.
Community
Pricing & Availability
Pricing depends on sensor variant (fingertip, palm, finger-pad), quantity, and integration requirements.
Need volume pricing or a demo unit? Talk to our team.