# GelSight DIGIT Tactile Sensor

> 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.

- Manufacturer: GelSight
- Part number: DG-01
- Category: Tactile & touch sensors
- Canonical page: https://www.xirkit.io/products/gelsight-digit-tactile-sensor-c541
- Pinout: https://www.xirkit.io/products/gelsight-digit-tactile-sensor-c541/pinout
- Structured JSON: https://www.xirkit.io/products/gelsight-digit-tactile-sensor-c541/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| Sensing | optical |
| Active area shape | rectangle (fingertip) |
| Active area length | 19 mm |
| Active area width | 16 mm |
| Touch channels | 307,200 |
| Output | RGB tactile image stream, VGA 640 × 480 (30 fps default) |
| Interface | USB |
| Weight | 20 g |
| Dimensions | 27 × 20 × 18 mm |

## Pinout (1 pins, 0 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| USB | — | usb | — | usb | — | — | — | — | — | — | — |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| www.gelsight.com | 355 USD | in_stock | 2026-10-19 | https://www.gelsight.com/product/digit-tactile-sensor/ |

## FAQ

**How much does the GelSight DIGIT Tactile Sensor cost?**

From $355 at www.gelsight.com. Prices are observed unit prices before tax and shipping.

**What are the GelSight DIGIT Tactile Sensor dimensions?**

27 × 20 × 18 mm. A STEP model is available for enclosure fit checks.

**Where does this GelSight DIGIT Tactile Sensor data come from?**

Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.

## Sources

- [GelSight DIGIT Tactile Sensor datasheet](https://www.engineering.upenn.edu/~dineshj/publication/lambeta-2020-digit/lambeta-2020-digit.pdf)
- [www.gelsight.com listing](https://www.gelsight.com/product/digit-tactile-sensor/)

## Part graph

### Alternatives (by use case)

- [Daimon DM-Tac W2M Visuo-Tactile Sensor](https://www.xirkit.io/products/daimon-dm-tac-w2m-visuo-tactile-sensor-dac7) — Both serve grasping and manipulation — check the trade-offs; $355 vs $600