PapillArray Tactile Sensor

PapillArray v2.0 uses nine silicone sensing pillars in a 3×3 array. Optical sensing measures each pillar's three-dimensional displacement, which the calibrated system converts into local force and vibration together with global three-dimensional force/torque, incipient slip and friction estimates.

Each array is housed in a 24 × 30.6 × 8.6 mm anodized-aluminium body with four M3 bottom mounting points. The development kit includes two arrays and a controller that can sample both simultaneously at up to 1 kHz. Contactile provides software access and optional C++ and ROS integration. The specification states operation up to 95% relative humidity when non-condensing and does not claim protection against dust or water immersion.