Supported model behavior

The sensor reports physical normal contact force in newtons. Known-load checks verify that a 0.1 kg fixture under 9.81 m/s² produces approximately 0.981 N.

Contact representation

Each sensor reads contact against one configured rigid body or articulation link. Penetration into its SDF determines the relative force distribution across taxels; the sum follows PhysX’s normal contact result. The model does not provide independent force estimates for multiple counter objects on one sensor.

Frames unwrap the curved sensing surface into firmware row/column coordinates. They show sampled contact footprints. Features smaller than the local sampling spacing, including fine gear teeth, can be unresolved. Grey visualization cells have no taxel; active cells at zero force remain in the zero-force color.

Dynamics and geometry

The current interface reports normal forces. Shear and material hysteresis require a different model. Contact stiffness, damping, timestep, and actuator gains are configured simulation parameters; see numerical settings.

The released exterior, mounting, contact sample projection, and supplied hand pose are checked. The articulated demo also verifies its fixed wrist, finger motion, contact, and release. Assess clearance for any new pose or trajectory before using it in a task. See validation.