6-Axis Tactile Sensor
Paxini PX-6AX GEN3 Specifications
Complete technical specifications: sensing axes, all sensor variants, communication board options, and software details.
Core Specifications
System-level properties common to all GEN3 variants
| Vendor | PaXini (帕西尼) |
| Model Series | PX-6AX GEN3 Standard Multidimensional Tactile Sensor |
| Sensing Axes | 6 — Fx, Fy, Fz (normal + shear forces) and Tx, Ty, Tz (torques/moments) |
| Sensor Categories | Fingertip (DP), Finger Pad (IP), Curved Finger Pad (CP), Palm (MC), Integrated Fingertip+Pad (DP combo) |
| Host Interface | USB via communication board |
| Raw Sensor Interfaces | SPI, I2C, or UART (board-dependent) |
| Software | PXSR v1.0.7 (pxsr-gen3-win-x64-1.0.7) — Windows x64 |
| Signal Coordinate Arrays | Per-variant XLSX files — taxel (x, y) coordinates in mm relative to sensor centre |
| Code Examples | C reference: UART Example.c, SPI Example.c, I2C Example.c |
| Protocol Documentation | PaXini PX-6AX GEN3 Communication Board Communication Protocol v1.0.5 |
| 3D Models | Included in product bundle (3D Models folder) |
| Platform Integration | Fearless Platform teleop session (GloveWorkbench, TeleopCameraStreamsPanel) |
6-Axis Sensing Detail
What each axis measures and typical use cases
| Axis | Type | Physical Meaning | Typical Use |
|---|---|---|---|
| Fx | Force | Lateral shear force (X direction) | Slip detection, lateral contact |
| Fy | Force | Lateral shear force (Y direction) | Slip detection, lateral contact |
| Fz | Force | Normal (pressing) force | Grasp force control, contact detection |
| Tx | Torque | Moment about X axis | Object rolling, torque estimation |
| Ty | Torque | Moment about Y axis | Object rolling, torque estimation |
| Tz | Torque | Moment about Z (normal) axis | Object rotation in grasp, twist detection |
Sensor Variants — Fingertip (DP)
Designed for mounting on robotic fingertip caps. Part numbers follow the format PX6AX-GEN3-DP-{size}-{tier}.
| Part Number | Diameter | Tier | XLSX Coordinate File |
|---|---|---|---|
| PX6AX-GEN3-DP-L3530-Omega | 30 mm | Omega | PXSR-STDDP03A.xlsx |
| PX6AX-GEN3-DP-M2826-Omega | 26 mm | Omega | PXSR-STDDP03B.xlsx |
| PX6AX-GEN3-DP-S2716-Core | 16 mm | Core | PXSR-STDDP03C.xlsx |
| PX6AX-GEN3-DP-S1813-Core | 13 mm | Core | PXSR-STDDP03D.xlsx |
| PX6AX-GEN3-DP-S3013-Core | 13 mm (integrated tip+pad) | Core | PXSR-STDDP03E.xlsx |
| PX6AX-GEN3-DP-S1813-Elite | 13 mm | Elite | PXSR-STDDP03F.xlsx |
| PX6AX-GEN3-DP-S2015-Elite | 15 mm | Elite | PXSR-STDDP03G.xlsx |
Sensor Variants — Finger Pad (IP / CP)
Flat and curved pads for finger ventral/dorsal surfaces. IP = flat, CP = curved profile.
| Part Number | Dimensions | Tier | XLSX Coordinate File |
|---|---|---|---|
| PX6AX-GEN3-IP-M2324-Core | 23×24 mm | Core | PXSR-STDIP03A.xlsx |
| PX6AX-GEN3-IP-S1610-Elite | 16×10 mm | Elite | PXSR-STDIP03B.xlsx |
| PX6AX-GEN3-CP-L5325-Omega | 53×25 mm | Omega | PXSR-STDCP03A.xlsx |
| PX6AX-GEN3-CP-M3025-Core | 30×25 mm | Core | PXSR-STDCP03B.xlsx |
Sensor Variants — Palm (MC)
Recessed palm-mount sensor for whole-hand contact detection.
| Part Number | Dimensions | Tier | XLSX Coordinate File |
|---|---|---|---|
| PX6AX-GEN3-MC-M2020-Elite | 20×20 mm | Elite | PXSR-STDMC03A.xlsx |
Communication Boards
Three board options ship in the product bundle. Choose based on the number of sensors and required throughput.
| Board | Max Sensors | Sensor Interface | Host Interface | Best For |
|---|---|---|---|---|
| 10-Channel SPI Hub | 10 | SPI | USB | Full-hand tactile coverage; multi-finger arrays |
| Single-Channel Serial Converter | 1 | UART | USB | Single-sensor prototyping and evaluation |
| High-Speed Integrated Board | Multiple | SPI / I2C | USB | High-frequency sampling; integrated deployments requiring low latency |
Protocol documentation.
The communication board protocol is detailed in the "PaXini PX-6AX GEN3 Communication Board Communication Protocol v1.0.5" PDF (included in the product bundle under 【05】Communication Board). This document defines the USB packet structure, register map, and data encoding used by all three board variants.
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