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Tactile Sensors#

Browse tactile sensing models for contact-rich manipulation workflows.

Find these digital twins in the Content Browser under Isaac Sim/Sensors, organized into manufacturer subfolders.

Synaptics
1 asset

Capacitive tactile module with a 52-taxel normal-force array.

Synaptics, 1 asset, Capacitive tactile module with a 52-taxel normal-force array.
Tashan Technology
1 asset

Universal tactile sensing for contact-rich manipulation.

Tashan Technology, 1 asset, Universal tactile sensing for contact-rich manipulation.

Synaptics#

Synaptics
Synaptics CTS0.0
Capacitive Tactile Sensor CTS0.0
Asset details

USD Path:

Synaptics/CTS/cts0.0.usd

Capacitive Tactile Sensor (CTS) Module v1.0#

Synaptics provides an Isaac Sim model and extension for simulating their Capacitive Tactile Sensor (CTS) modules. These modules provide a high-performance tactile solution for robotics applications, powered by the Synaptics SN6012T capacitive sensing controller.

For usage in Isaac Sim, please follow the instructions in the Synaptics Tactile Simulation Platform repository.

Features and Specification

CTS0.0 Features#

Parameter

Value

Taxels

52, on a five-row square grid with chamfered corners

Sensing Area

29.5 mm × 12.9 mm

Module Dimensions

31 mm × 16 mm × 4 mm

Output Channels

Per-taxel normal force, and the net force vector on the sensing surface

Physics APIs

PhysicsCollisionAPI on each force area, no RigidBodyAPI

Usage Notes

  • Mount the sensor as a static fixture and press a dynamic object into it. The asset carries colliders without a rigid body.

  • Rotate the asset 90 degrees about X on a Z-up stage. The sensing face points along +Y in the asset’s local frame.

  • Lower the viewport camera near clip below its 1 cm default before you frame the module, which is only 4 mm thick.

  • Keep presses inside the taxel array. A wider indenter rests on the module base, which is coplanar with the force areas and carries the load instead of the taxels.

Tashan Technology#

Tashan Technology
Tashan TS-F-A
Universal Tactile Sensor TS-F-A (Certified)
Asset details

USD Path:

Tashan/TS-F-A/TS-F-A.usd

Tashan Technology Universal Tactile Sensor TS-F-A is a tactile simulation model based on real products to advance research and innovation in robotic tactile perception technology and promote the development of embodied intelligent robots.

Features and Specification

Outputs 11 dimensional feature channels:

  • Proximity sensing [1]

  • Tactile sensing [2-4]: Normal force, tangential force, tangential force direction

  • Raw capacitance values [5-11]: 7-channel raw capacitance data

Note

For usage in Isaac Sim, visit the Tashan Technology Tactile Simulation Platform User Manual.