Hands-on Tutorial: 3D Tactile Sensor Integration in Robotic Fingers for Smart Manipulation
A two-finger gripper tutorial adds Melexis Tactaxis 3D force sensors to the fingertips for measuring normal and shear forces.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
Not documented
No cost in the reviewed sources.
Can I sell what I build?
Check firstCheck before commercial use
Hardware not documented · Software not documented. Licensing source
What’s open?
2 of 6CAD: AvailableBOM: PartialPCB: Not documentedCode: PartialSim: Not documentedGuide: Available
BOM, code partial · PCB, sim not documented. All six files
Is it maintained?
Active
Latest activity Sep 4, 2026 · main repo last commit Sep 4, 2026 · 21 commits in the last 52 weeks · 2 contributors Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
This project provides resources to assemble a two-finger PincOpen gripper and integrate Tactaxis 3D force sensors into its fingertips. The sensor measures normal and shear forces simultaneously. Repository resources include STEP and STL design files, electronics documentation, code, a bill of materials, and an assembly guide.
Hardware
- Actuators
- Not documented Documentation
- Build
- 3D-printed · Design files include parts and moulds Documentation
- Tactile sensing
- Measures normal and shear forces simultaneously README
Building it
02 / The files behind the robot
What’s open.
Six parts of the build, each checked separately. Gaps stay visible.
| Part | Status | What’s there | License | Source |
|---|---|---|---|---|
| CAD | Available | STEP and STL design files, including moulds for the PDMS sensor cover. | Not documented | Design/ |
| Bill of materials | Partial | Component lists are provided for the gripper controller and user interface. | Not documented | BOM/ |
| Electronics | Not documented | Not documented | Not documented | No source found |
| Code | Partial | ROS 2 packages and Python scripts are included; ESP32 firmware source is not published, but pre-built binaries are included. | Not documented | Codes/ |
| Simulation model | Not documented | Not documented | Not documented | No source found |
| Assembly guide | Available | Assembly guide for the full gripper. | Not documented | Gripper Kit - Assembly guide.pdf |
03 / Know before you build
Can you sell it?
Check firstCheck before commercial use
No license was found for the design files, so no reuse rights are granted. Ask the maker before building anything to sell.
- Hardware
- Not documented
- Software
- Not documented
04 / The upstream project
Is it maintained?
ActiveLatest activity Sep 4, 2026, 56 days before the snapshot
The main repository’s last commit was Sep 4, 2026.
- Stars
- 7
- Forks
- 3
- Contributors
- 2
- Latest release
- None recorded
Snapshot captured Oct 30, 2026. Recorded figures, not live metrics. Active: activity within 90 days of the snapshot. Quiet: within a year. Dormant: longer.
05 / Parts & kits
A head start.
Maker-listed sellers only. No affiliate links or paid placement.
MAKER’S COST
Not documented
No cost in the reviewed sources.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other hands & grippers.
Other hands & grippers in the directory, most recently active first. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| Hands-on Tutorial: 3D Tactile Sensor Integration in Robotic Fingers for Smart ManipulationThis robotMilan Amighi, Constantin Scholz, and Bram Vanderborght (Brubotics – VUB & imec) | Not documented | 2 of 6 | Check firstHW not documented · SW not documented | ROS 2PythonESP32 | ActiveSep 4, 2026 | 7 |
| SSG48 adaptive electric gripperSource-Robotics | Not documented | 4 of 6 | YesHW Apache 2.0 · SW Apache-2.0 | ROS 2Python | ActiveSep 27, 2026 | 184 |
| YUBI GripperFrontier Research Center, Toyota Motor Corporation | Not documented | 3 of 6 | Yes, with creditHW CERN Open Hardware Licence Version 2 - Weakly Reciprocal (CERN-OHL-W v2) · SW CERN-OHL-W-2.0 | Not documented | ActiveSep 21, 2026 | 188 |
| Aero Hand OpenChestnut Robotics | $314complete kit | 6 of 6 | NoHW CC BY-NC-SA 4.0 · SW Apache-2.0 | ROS 2MuJoCoPython | ActiveSep 15, 2026 | 1,054 |
| This robotHands-on Tutorial: 3D Tactile Sensor Integration in Robotic Fingers for Smart Manipulation | SSG48 adaptive electric gripper | YUBI Gripper |
|---|---|---|
| Cost | ||
| Not documented | Not documented | Not documented |
| Can I sell it? | ||
| Check first | Yes | Yes, with credit |
| Open files | ||
| 2 of 6 | 4 of 6 | 3 of 6 |
| Runs on | ||
| ROS 2, Python, ESP32 | ROS 2, Python | Not documented |
| Maintained | ||
| ActiveSep 4, 2026 | ActiveSep 27, 2026 | ActiveSep 21, 2026 |
Upkeep is measured against each robot’s own snapshot. Costs keep the maker’s scope, so check what each figure covers.
See them in the table07 / Follow the evidence
Open books.
Repository files are pinned to commit b162132. Websites and papers are listed with their review dates.
- 01README.md at b162132Reviewed Oct 30, 2026
- 02Electronics/README.md at b162132Reviewed Oct 30, 2026