Robotiq TSF-85 多模态触觉传感器指尖（28 taxel / 1000 Hz）
Vendor: Robotiq (Canada)
Product: TSF-85 触觉传感器指尖（2F-85/2F-140 替换指尖）
Robotiq TSF-85 为可替换 2F-85/2F-140 自适应夹爪标准指尖的多模态触觉传感器：单指 28 个 taxel 压力阵列、1000 Hz 采样，集成振动与 IMU 感知，支持本体感知与滑移检测，经 200 万次循环测试读数一致；原生兼容 ROS2 与 NVIDIA Isaac Sim，面向 Physical AI 数据采集、基础模型训练、人机交互与灵巧抓取决策，配套数据采集模块即插即用。
| type | multimodal tactile sensor fingertip (pressure + vibration + IMU) |
| taxels | 28 per fingertip |
| sensing | pressure array, vibration, IMU (slip detection, proprioception) |
| software | ROS2, NVIDIA Isaac Sim |
| durability | tested >2 million cycles |
| sample_rate | 1000 Hz |
| compatibility | Robotiq 2F-85 / 2F-140 grippers (drop-in fingertip replacement) |