Ready-to-order designs

These downloads provide the sensor geometries fabricated for the paper, regenerated for the current OpenTac readout boards. Each archive contains a complete OpenTac-CAD export: KiCad layout, Gerbers, manifest, editable design, 1:1 paper template, piezoresistive-layer cutting files, and the printed case with a bottom tray and bumped, flat and hatched lids. Follow Order the sensor for fabrication and the assembly guide for construction.

The supplied layouts use two copper layers and grow mode, which allows the board boundary to expand around the routing. Open an archive in OpenTac-CAD to modify the outline, taxel size or layer count. Previews show taxels in pale blue, top-layer column traces in red, and bottom-layer row traces in blue. Select a preview to inspect it at full resolution.

Robot hands and grippers

SO-101 gripper jaw
86 taxels, 6 × 15 grid
4.2 mm pitch, 30-pin board
Download ZIP (393 KB)

Robotiq 2F-85 finger pad (coarse)
32 taxels, 8 × 4 grid
4.2 mm pitch, 30-pin board
Download ZIP (286 KB)

YUBI finger pad
165 taxels, 8 × 27 grid
3 mm pitch, 60-pin board
Download ZIP (674 KB)

9 × 9 patch, long tail
81 taxels, 9 × 9 grid
2 mm pitch, 30-pin board
Download ZIP (367 KB)

9 × 9 patch
81 taxels, 9 × 9 grid
2 mm pitch, 30-pin board
Download ZIP (366 KB)

SO-101 gripper jaw (wide)
231 taxels, 9 × 26 grid
3 mm pitch, 60-pin board
Download ZIP (732 KB)

LEAP Hand fingertip
84 taxels, 14 × 8 grid
3 mm pitch, 30-pin board
Download ZIP (506 KB)

AgileX Piper jaw
102 taxels, 15 × 11 grid
4.2 mm pitch, 30-pin board
Download ZIP (582 KB)

Finger strip 16 × 6
96 taxels, 16 × 6 grid
4 mm pitch, 60-pin board
Download ZIP (507 KB)

Robotiq 2F-85 finger pad
153 taxels, 17 × 9 grid
2 mm pitch, 60-pin board
Download ZIP (507 KB)

LEAP Hand palm
467 taxels, 28 × 18 grid
4.2 mm pitch, 60-pin board
Download ZIP (1117 KB)

UMI soft finger (narrow)
116 taxels, 29 × 4 grid
4 mm pitch, 60-pin board
Download ZIP (642 KB)

Strip 32 × 12
330 taxels, 30 × 11 grid
2.122 mm pitch*, 60-pin board
Download ZIP (871 KB)

AgileX Piper jaw (dense)
441 taxels, 30 × 24 grid
2.122 mm pitch*, 60-pin board
Download ZIP (1293 KB)

Large 32 × 32 array
900 taxels, 30 × 30 grid
4.244 mm pitch*, 60-pin board
Download ZIP (1662 KB)

YUBI finger pad (variant)
164 taxels, 8 × 27 grid
3 mm pitch, 60-pin board
Download ZIP (677 KB)

UMI soft finger
174 taxels, 29 × 6 grid
4 mm pitch, 60-pin board
Download ZIP (778 KB)

Legged robots

Unitree B2 foot (long)
390 taxels, 30 × 13 grid
3.289 mm pitch*, 60-pin board
Download ZIP (1070 KB)

Unitree B2 foot (short)
390 taxels, 13 × 30 grid
3.289 mm pitch*, 60-pin board
Download ZIP (971 KB)

Calibration geometries

Square: 1.5 mm pitch, 0.2 mm electrode gap
729 taxels, 27 × 27 grid
1.5 mm pitch, 60-pin board
Download ZIP (1115 KB)

Square: 2 mm pitch, 0.2 mm electrode gap
400 taxels, 20 × 20 grid
2 mm pitch, 60-pin board
Download ZIP (774 KB)

Square: 4 mm pitch, 0.2 mm electrode gap
100 taxels, 10 × 10 grid
4 mm pitch, 30-pin board
Download ZIP (444 KB)

Square: 2 mm pitch, 0.1 mm electrode gap
400 taxels, 20 × 20 grid
2 mm pitch, 60-pin board
Download ZIP (775 KB)

Square: 2 mm pitch, 0.3 mm electrode gap
400 taxels, 20 × 20 grid
2 mm pitch, 60-pin board
Download ZIP (774 KB)

Square: 2 mm pitch, 0.4 mm electrode gap
400 taxels, 20 × 20 grid
2 mm pitch, 60-pin board
Download ZIP (773 KB)

Square: 2 mm pitch, 0.5 mm electrode gap
400 taxels, 20 × 20 grid
2 mm pitch, 60-pin board
Download ZIP (773 KB)

Rectangle: 2 mm pitch, 0.2 mm electrode gap
406 taxels, 14 × 29 grid
2 mm pitch, 60-pin board
Download ZIP (760 KB)

Triangle: 2 mm pitch, 0.2 mm electrode gap
409 taxels, 26 × 30 grid
2 mm pitch, 60-pin board
Download ZIP (1118 KB)

Hexagon: 2 mm pitch, 0.2 mm electrode gap
406 taxels, 20 × 26 grid
2 mm pitch, 60-pin board
Download ZIP (959 KB)

Circle: 2 mm pitch, 0.2 mm electrode gap
403 taxels, 20 × 24 grid
2 mm pitch, 60-pin board
Download ZIP (961 KB)

L-shape: 2 mm pitch, 0.2 mm electrode gap
405 taxels, 27 × 27 grid
2 mm pitch, 60-pin board
Download ZIP (921 KB)

* The original fabricated design exceeded 30 rows or columns. This export increases the pitch sufficiently to fit the 60-pin board; its grid dimensions therefore differ from the original design name.