6-Axis Tactile Sensor

Paxini Sensor Safety & Handling

Read this page before installing or operating the GEN3 sensor. The sensing elements are precision-fabricated and require careful handling to maintain accuracy.

Fragile precision sensors — handle with care. The GEN3 sensing elements use microstructured polymer substrates. Mechanical shock, point overloading, or electrostatic discharge can permanently damage the sensing layer. Damaged sensors may read incorrectly without any visible external sign — always verify calibration after any impact event.

Overload Protection Critical

Each GEN3 variant has rated force limits for all six axes. Never exceed these limits during operation. Overloading the sensor does not necessarily cause visible physical damage but permanently shifts the zero-offset and degrades sensitivity across affected taxels.

  • Implement software force limits in your robot controller that stop motion if any F/T axis approaches 80% of the rated limit.
  • Do not use the sensor as a mechanical stop or collision bumper. If your robot contacts an obstacle, the resulting impulse force can far exceed the rated limit in milliseconds.
  • When using the sensor on a dexterous hand, set joint torque limits conservatively — fingertip contact forces scale with joint torques in a non-linear way depending on configuration.
  • The Omega-tier variants (larger diameter) have higher force ratings than Core-tier variants of similar size. Consult the product datasheet for exact per-axis limits for your specific part number.
No protection circuit. The GEN3 sensor has no internal electronic overload protection. Force limiting is the responsibility of the robot controller and operator. If you are designing an automated grasping task, add an outer control loop that monitors Fz and halts grasp closure before the limit is reached.

Handling & Installation Important

Treat GEN3 sensor tiles as precision optical components — similar care to camera lenses or IMU modules.

  • No drops. Even a 30 cm drop onto a hard surface can crack the substrate or delaminate the sensing layer. Always hold the sensor over a padded surface when not mounted.
  • Contact face only. Handle the sensor by its edges or mounting flange, not by the active sensing face. Fingerprints and oils on the sensing surface can alter local compliance and taxel response.
  • Ribbon cable. The flex ribbon connecting the sensor to the communication board is rated for a limited number of flex cycles. Avoid routing the cable in a way that creates repeated sharp bends during robot motion. Use cable management clips (included) to constrain motion.
  • Connectors. Seat the ribbon connector fully before powering on the communication board. A partially-seated connector can cause intermittent open circuits that appear as intermittent zero readings — visually indistinguishable from a damaged sensor.
  • Cleaning. If the sensing surface becomes contaminated, clean with a dry lint-free cloth. Do not use solvents, alcohol, or water — these can degrade the polymer sensing layer.

Electrostatic Discharge (ESD) Important

The GEN3 sensor electronics are ESD-sensitive. Damage from static discharge may not be immediately apparent — it can manifest as elevated noise floor, reduced sensitivity on specific taxels, or erratic 6-axis F/T readings days after the event.

  • Ground yourself using a wrist strap before handling bare sensor modules or the communication board PCB.
  • Store sensors in the conductive anti-static bags included in the product bundle when not mounted on a robot.
  • In dry environments (relative humidity below 30%), take extra precautions — use an ionising air blower near the workbench when installing.
  • Do not connect or disconnect the sensor ribbon with the communication board powered. Power off (unplug USB) before making or breaking connections.

Calibration After Any Impact Required

Any time the sensor experiences a mechanical shock — a robot collision, an accidental drop, or contact with a hard surface — recalibrate the sensor before continuing data collection.

  • Open PXSR, disconnect, then reconnect the sensor to clear any latched fault state.
  • Unload the sensor completely (no contact, no gravity load on the sensing face) and run Calibrate → Zero Baseline.
  • Compare the new baseline to the pre-impact baseline saved in your session logs. If the zero-offset for any taxel has shifted by more than 5% of the full-scale range, consider the sensor potentially compromised and verify with a known reference load.
  • If F/T axis readings are consistently non-zero under zero load after recalibration, the sensor has likely sustained permanent damage. Contact PaXini support or SVRC for replacement evaluation.

Storage Recommended Practice

When storing GEN3 sensors for extended periods (more than a few days dismounted from a robot):

  • Dry environment. Store in a low-humidity environment (30–50% RH). The polymer sensing substrate can absorb moisture over time, which shifts baseline compliance. Include silica gel desiccant packets in the storage container.
  • Anti-static bags. Always return sensors to the original anti-static bags or equivalent ESD-safe packaging.
  • Temperature. Store at 10–35°C. Avoid freezing temperatures and direct sunlight — UV exposure can degrade the polymer sensing layer.
  • No stacking. Do not stack sensor tiles on top of one another without the original protective foam inserts. Pressure from stacking can pre-compress the sensing layer and cause irreversible zero-shift.
  • Calibrate after long storage. If a sensor has been stored for more than 4 weeks, run a zero baseline calibration before use, as the sensing layer may drift slightly during extended storage.
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