They provide humanoid and industrial robotic hands with a human-like sense of touch to enable delicate manipulation and prevent dropped items. The system provides a rich perception stack (vision, motion, and touch) by layering high-density tactile information over a robot's existing camera systems. It consists of three primary layers: 1. Outer Shell: A smooth, protective outer layer that can be modified for specific applications. 2. Soft Elastomer: A middle layer that allows the sensor to conform to the shape of the object being grasped while making the system highly resilient to overloading and very durable. 3. Sensor Module: The bottom layer consists of a multitude of tiny chips, each individually capable of measuring 3D displacement (normal and shear forces).