{"publisher":"Xirkit — the structured parts marketplace","canonical":"https://www.xirkit.io/products/gelsight-digit-tactile-sensor-c541","markdown":"https://www.xirkit.io/products/gelsight-digit-tactile-sensor-c541/data.md","mcp":"https://www.xirkit.io/mcp","note":"Every value is traced to a cited source (see sources and per-value src). Null means unknown, never zero.","record":{"id":"c5418b6c-3a58-5664-8311-9f359a10cf18","mpn":"DG-01","name":"GelSight DIGIT Tactile Sensor","manufacturer":"GelSight","family":"tactile_sensor","summary":"GelSight DIGIT (DG-01) is a vision-based fingertip tactile sensor for robot hands: an OVM7692 colour camera images a 19 × 16 mm elastomer lit by three RGB LEDs and streams it over USB (VGA 640 × 480, 30 fps by default; 60 fps in the paper table). The housing is 20 × 27 × 18 mm and about 20 g with a press-fit replaceable gel.","schema_version":"3.0","revision":null,"tags":["tactile_sensor","tactile sensor","visuo-tactile sensor","vision-based tactile sensor","digit","gelsight","meta ai digit","usb tactile sensor","in-hand manipulation","robotics"],"sources":[{"other":{},"id":"datasheet","url":"https://www.engineering.upenn.edu/~dineshj/publication/lambeta-2020-digit/lambeta-2020-digit.pdf","title":"GelSight DIGIT Tactile Sensor datasheet","publisher":"GelSight","kind":"datasheet","retrieved_at":"2026-10-19T07:21:32+00:00","field_paths":["spec.geometry.cad.bbox.height_mm","spec.geometry.cad.bbox.length_mm","spec.geometry.cad.bbox.width_mm","spec.geometry.cad.envelope_complete","spec.geometry.cad.mesh_path","spec.geometry.cad.step_path","spec.geometry.cad.verification","spec.geometry.dimensions.height_mm","spec.geometry.dimensions.length_mm","spec.geometry.dimensions.width_mm","spec.geometry.other.weight_g","spec.provides.active_area_length_mm","spec.provides.active_area_shape","spec.provides.active_area_width_mm","spec.provides.channels","spec.provides.features","spec.provides.interface","spec.provides.output","spec.provides.sensing","spec.usage.connectors","spec.usage.pinout","spec.usage.pinout_complete"],"notes":"sha256 e152e3f807d14b3948455af3fa28e5caad45bfd5c9e6b4ff59ca250a9e2cc012"},{"other":{},"id":"offer0","url":"https://www.gelsight.com/product/digit-tactile-sensor/","title":"www.gelsight.com listing","publisher":null,"kind":"distributor","retrieved_at":"2026-10-19T07:22:39+00:00","field_paths":["offers"],"notes":null}],"assets":[{"other":{},"kind":"datasheet","url":"https://www.engineering.upenn.edu/~dineshj/publication/lambeta-2020-digit/lambeta-2020-digit.pdf","label":"Datasheet","verification":"manufacturer","notes":null},{"other":{},"kind":"image","url":"https://www.gelsight.com/wp-content/uploads/2022/09/GelSight_Online-Store_Image_DIGIT.png","label":"GelSight DIGIT","verification":"manufacturer","notes":"inspected: black rounded DIGIT housing with the white elastomer gel face"},{"other":{},"kind":"cad","url":"gelsight-digit.step","label":"STEP (generated from datasheet drawing)","verification":"generated","notes":"cad_check passed"}],"offers":[{"other":{"sku":"DG-01","price_breaks":[]},"supplier":"www.gelsight.com","url":"https://www.gelsight.com/product/digit-tactile-sensor/","currency":"USD","unit_price":355,"stock_status":"in_stock","region":"US","minimum_quantity":null,"checked_at":"2026-10-19T07:22:39+00:00","lead_time_days_min":null,"lead_time_days_max":null,"destination":"US","destination_postal_code":null,"notes":null,"price_basis":"listed","unit_price_max":null}],"best_for":[{"other":{},"label":"Touch and force sensing","reason":"A 640 × 480 camera images a 19 × 16 mm gel, giving contact shape and shear at pixel resolution instead of a single force value.","basis":"engineering_inference"},{"other":{},"label":"Grasping and manipulation","reason":"20 × 27 × 18 mm and about 20 g: small enough to mount on multi-finger robot hands for in-hand manipulation.","basis":"engineering_inference"}],"children":[],"spec":{"other":{},"usage":{"other":{},"pinout":[{"id":"USB","kind":"usb","label":"USB","notes":"USB video + control link from the camera PCB (connector type not stated in the sources)","other":{},"functions":["usb"],"electrical":{}}],"derived":{},"connectors":[{"id":"usb","kind":"USB (camera PCB; plug type not stated)","other":{}}],"pin_mappings":[],"requirements":{"other":{},"data_inputs":[],"power_inputs":[]},"pinout_complete":true},"geometry":{"cad":{"bbox":{"width_mm":20,"height_mm":18,"length_mm":27},"features":[],"mesh_path":"gelsight-digit.stl","step_path":"gelsight-digit.step","assumptions":[],"verification":"generated","envelope_complete":true},"other":{"weight_g":20},"derived":{},"dimensions":{"other":{},"width_mm":20,"height_mm":18,"length_mm":27},"feature_boxes":[],"mounting_holes":[]},"provides":{"other":{},"output":"RGB tactile image stream, VGA 640 × 480 (30 fps default)","derived":{},"sensing":"optical","channels":307200,"features":["Camera: Omnivision OVM7692 60 fps colour CMOS with a 1.15 mm focal-length microlens array","Three RGB LEDs with manual intensity control, up to 4 lumens over the elastomer","Frame-rate conflict: the paper table lists 60 fps at 640 × 480; the maker driver README says each DIGIT starts at VGA 640 × 480 at 30 fps and supports other stream formats","Press-fit enclosure: camera and gel swap without tools; replacement gel cartridge sold separately","Open-source design and Python driver (digit-interface) by Meta AI; paper estimated parts cost about 15 USD at 1000 units","Availability (2026-10-19): GelSight store $355, lead time 4–6 weeks"],"interface":"USB","capabilities":[],"active_area_shape":"rectangle (fingertip)","active_area_width_mm":16,"active_area_length_mm":19},"compliance":{"other":{},"derived":{},"certifications":[]},"constraints":{"other":{},"derived":{},"thermal":{"other":{}},"electrical":{"other":{}}}},"other":null,"source_type":"pdf","source_ref":"https://www.engineering.upenn.edu/~dineshj/publication/lambeta-2020-digit/lambeta-2020-digit.pdf","datasheet":{"cad":{"bbox":{"max":[27,20,18],"min":[0,0,0],"width_mm":20,"height_mm":18,"length_mm":27},"check":{"failed":[],"passed":true},"expected":[{"x":27,"y":20,"name":"envelope","what":"box_xy"},{"what":"envelope_z","value":18}],"archetype":"envelope_box","mesh_path":"/Users/sumeet/Documents/Xirkit Parent/XirkitOnboard/work/gelsight-digit/07_cad/part.stl","step_path":"/Users/sumeet/Documents/Xirkit Parent/XirkitOnboard/work/gelsight-digit/07_cad/part.step","views_png":"/Users/sumeet/Documents/Xirkit Parent/XirkitOnboard/work/gelsight-digit/07_cad/views.png","export_stl":"gelsight-digit.stl","assumptions":[],"export_step":"gelsight-digit.step","source_step":null,"verification":"generated","envelope_complete":true},"chips":[],"fields":{"output":{"src":{"page":12,"quote":"Upon connection each DIGIT device initializes with a default stream resolution of VGA: 640x480 at 30fps","method":"text"},"unit":null,"value":"RGB tactile image stream, VGA 640 × 480 (30 fps default)"},"weight":{"src":{"page":3,"quote":"20g . DIGIT has a plastic multi-body three-piece enclosure","method":"text"},"unit":"g","value":20},"sensing":{"src":{"page":3,"quote":"through which DIGIT achieves these advantages. use an Omnivision OVM7692, a 60fps color CMOS hosting","method":"derived"},"unit":null,"value":"optical"},"channels":{"src":{"page":2,"quote":"A class of sensors that has recently proved popular and Sensing_{Image Resolution} field [mm]_{640x480} 19x16_{1920x1080} 18x14_{640x480} 30x40","method":"derived"},"unit":null,"value":307200},"connector":{"src":{"page":3,"quote":"USB 3.0 hub to facilitate connecting multiple DIGITs to a","method":"text"},"unit":null,"value":"USB (plug type not stated)"},"interface":{"src":{"page":3,"quote":"USB 3.0 hub to facilitate connecting multiple DIGITs to a","method":"text"},"unit":null,"value":"USB"},"active_area_shape":{"src":{"page":2,"quote":"A class of sensors that has recently proved popular and Sensing_{Image Resolution} field [mm]_{640x480} 19x16_{1920x1080} 18x14_{640x480} 30x40","method":"derived"},"unit":null,"value":"rectangle (fingertip)"},"active_area_width":{"src":{"page":2,"quote":"A class of sensors that has recently proved popular and Sensing_{Image Resolution} field [mm]_{640x480} 19x16_{1920x1080} 18x14_{640x480} 30x40","method":"text"},"unit":"mm","value":16},"active_area_length":{"src":{"page":2,"quote":"A class of sensors that has recently proved popular and Sensing_{Image Resolution} field [mm]_{640x480} 19x16_{1920x1080} 18x14_{640x480} 30x40","method":"text"},"unit":"mm","value":19}},"groups":{"all":["USB"]},"source":{"url":"https://www.engineering.upenn.edu/~dineshj/publication/lambeta-2020-digit/lambeta-2020-digit.pdf","pages":14,"sha256":"e152e3f807d14b3948455af3fa28e5caad45bfd5c9e6b4ff59ca250a9e2cc012","onboarded_at":"2026-10-19T07:24:04+00:00"},"coverage":{"pct":91.7,"score":"22/24","passed":true,"explained_nulls":["active_area_diameter","force_range","thickness","operating_temperature","thickness"]},"entities":[{"id":"USB","attrs":{"kind":"usb","label":"USB","designator":"USB","description":"USB video + control link from the camera PCB (connector type not stated in the sources)"},"sources":[{"page":3,"quote":"USB 3.0 hub to facilitate connecting multiple DIGITs to a","method":"text","fragment":"entities_pins.json"}],"attr_src":{"kind":{"page":3,"quote":"USB 3.0 hub to facilitate connecting multiple DIGITs to a","method":"text","fragment":"entities_pins.json"},"label":{"page":3,"quote":"USB 3.0 hub to facilitate connecting multiple DIGITs to a","method":"text","fragment":"entities_pins.json"},"designator":{"page":3,"quote":"USB 3.0 hub to facilitate connecting multiple DIGITs to a","method":"text","fragment":"entities_pins.json"},"description":{"page":3,"quote":"USB 3.0 hub to facilitate connecting multiple DIGITs to a","method":"text","fragment":"entities_pins.json"}},"functions":[],"electrical":{},"entity_type":"pin"}],"taxonomy":{"pinouts":{"role":"pins_or_terminals","definition":"Pins, pads, tails or connector leads and what each does"},"code_usage":{"role":"software_usage","definition":"Wiring and example code (Arduino / CircuitPython)"},"dimensions":{"role":"mechanical_dimensions","definition":"Dimension drawing: sensor outline, active area, tail length, board size"},"site_chrome":{"role":"other","definition":"Navigation, related products, footers, page headers"},"specifications":{"role":"electrical_ratings","definition":"Specifications: active area, force range, resistance vs force, thickness, actuation force, electrodes / channels, supply, interface"},"pricing_ordering":{"role":"ordering_commercial","definition":"Store page: price, product ID, technical details"},"product_overview":{"role":"identity_overview","definition":"Overview: sensing principle, what it detects, typical uses"}},"variants":{},"commercial":{"other":{},"checked_at":"2026-10-19T07:22:39+00:00","compliance":[],"ordering_codes":[{"code":"DG-01","description":"GelSight DIGIT Tactile Sensor"}]},"mechanical":{"dims":{"width":{"src":{"page":3,"quote":"presented in Fig. 2. A full DIGIT has dimensions 20mm width elastomer surface.","method":"text"},"unit":"mm","value":20},"height":{"src":{"page":3,"quote":"x 27mm height x 18mm depth, and weighs approximately","method":"text"},"note":"depth","unit":"mm","value":18},"length":{"src":{"page":3,"quote":"x 27mm height x 18mm depth, and weighs approximately","method":"text"},"note":"height","unit":"mm","value":27}},"kind":"mechanical","holes":[],"units":"mm","origin":"housing envelope: width 20 × height 27 × depth 18","features":[],"archetype":"envelope_box","assumptions":{}},"page_index":[{"page":1,"tags":["product_overview"],"primary":"product_overview"},{"page":2,"tags":["product_overview"],"primary":"product_overview"},{"page":3,"tags":["product_overview"],"primary":"product_overview"},{"page":4,"tags":[],"primary":"none_of_these"},{"page":5,"tags":[],"primary":"none_of_these"},{"page":6,"tags":[],"primary":"none_of_these"},{"page":7,"tags":[],"primary":"none_of_these"},{"page":8,"tags":[],"primary":"none_of_these"},{"page":9,"tags":["site_chrome"],"primary":"site_chrome"},{"page":10,"tags":[],"primary":"none_of_these"},{"page":11,"tags":[],"primary":"none_of_these"},{"page":12,"tags":["code_usage"],"primary":"code_usage"},{"page":13,"tags":[],"primary":"none_of_these"},{"page":14,"tags":[],"primary":"none_of_these"}],"performance":[],"schema_name":"datasheet-1","part_ratings":{}},"use_cases":["touch-force-sensing","grasping-manipulation"],"commercial":{"other":{},"checked_at":"2026-10-19T07:22:39+00:00","compliance":[],"ordering_codes":[{"code":"DG-01","description":"GelSight DIGIT Tactile Sensor"}]},"null_reasons":{"thickness":{"note":"18 mm deep module, envelope given","reason":"not_applicable"},"force_range":{"note":"no force full scale published","reason":"not_in_source"},"active_area_diameter":{"note":"rectangular field","reason":"not_applicable"},"operating_temperature":{"note":"not published","reason":"not_in_source"}},"assembly_label":"Module","assembly_level":2,"search_aliases":["DIGIT","GelSight DIGIT","DIGIT tactile sensor","DG-01","Meta DIGIT"],"design":{"assets":[{"other":{},"kind":"datasheet","url":"https://www.engineering.upenn.edu/~dineshj/publication/lambeta-2020-digit/lambeta-2020-digit.pdf","label":"Datasheet","verification":"manufacturer","notes":null,"resolved_url":"https://www.engineering.upenn.edu/~dineshj/publication/lambeta-2020-digit/lambeta-2020-digit.pdf"},{"other":{},"kind":"image","url":"https://www.gelsight.com/wp-content/uploads/2022/09/GelSight_Online-Store_Image_DIGIT.png","label":"GelSight DIGIT","verification":"manufacturer","notes":"inspected: black rounded DIGIT housing with the white elastomer gel face","resolved_url":"https://www.gelsight.com/wp-content/uploads/2022/09/GelSight_Online-Store_Image_DIGIT.png"},{"other":{},"kind":"cad","url":"gelsight-digit.step","label":"STEP (generated from datasheet drawing)","verification":"generated","notes":"cad_check passed","resolved_url":"https://wlrumvsjnliyuuvzwnrt.supabase.co/storage/v1/object/public/geometry/gelsight-digit.step"}],"cad":{"verification":"generated","envelope_complete":true,"assumptions":[],"step_path":"gelsight-digit.step","mesh_path":"gelsight-digit.stl","footprint_svg_path":null,"bbox":{"length_mm":27,"width_mm":20,"height_mm":18},"features":[],"step_url":"https://wlrumvsjnliyuuvzwnrt.supabase.co/storage/v1/object/public/geometry/gelsight-digit.step","mesh_url":"https://wlrumvsjnliyuuvzwnrt.supabase.co/storage/v1/object/public/geometry/gelsight-digit.stl","footprint_svg_url":null},"limitations":["Generated geometry is an approximate mechanical envelope; inspect original manufacturer CAD when available.","Generated footprint_svg_path is an outline, not a verified electrical land pattern.","Xirkit does not run fit checks; download step_url and test fit against your own enclosure."]}}}