PaXini — tactile humanoid robots and multi-dimensional touch sensors
PaXini Tech (帕西尼感知科技) is a Shenzhen-based Chinese robotics company building the tactile infrastructure of embodied AI — high-precision multi-dimensional touch sensors, vision-tactile dexterous hands, and full humanoid platforms. Its flagship TORA-ONE humanoid pairs more than 2,000 tactile sensing units with a 53-degree-of-freedom body, positioning PaXini as a distinctive touch-first player in the current humanoid robotics and AI boom alongside Unitree, Fourier Intelligence, AgiBot, and other Chinese general-purpose humanoid developers.
- 2021Founded
- Shenzhen, CNHeadquarters
- TORA-ONELatest flagship
- ~$280MFunding raised
- ChinaCountry
- PrivateStatus
About PaXini
PaXini Technology (Shenzhen) Co., Ltd. — 帕西尼感知科技 in Chinese — was founded in 2021 by Xu Jincheng (also romanized as Hsu Jincheng), a roboticist who trained under Professor Shigeki Sugano at Waseda University's Robotics Laboratory in Tokyo. Waseda is widely credited with building the world's first anthropomorphic humanoid robots in the 1970s, and PaXini's founding team is drawn largely from that same lineage. The company's premise from day one has been that vision-first humanoid robots miss what makes human manipulation actually work — the sense of touch — and that solving touch at scale is the prerequisite to useful physical AI.
The company's central invention is the ITPU (Intelligent Tactile Processing Unit) equipped with HAPTA (Hetero-Array-Probing Tactile Architecture) — the world's first 6D Hall-array tactile sensor capable of measuring six-axis force, torque, material, texture, and temperature simultaneously, with full-scale repeatability under 0.5% and sensitivity down to 0.01 N. On that sensing foundation PaXini built a full-stack product matrix — sensor, dexterous hand, humanoid platform, data acquisition system, and embodied-AI model — and has become, by its own account and by third-party reporting, China's largest tactile-sensor manufacturer and the only domestic firm producing multi-tactile dexterous hands at commercial series scale.
Funding has scaled aggressively alongside product. Angel and pre-A rounds between 2021 and 2024 attracted Lu Qi's MiraclePlus and the venture arms of Chinese automakers including BYD, SAIC Motor, and BAIC Group, plus TCL Capital and Addor Capital. BYD's April 2025 strategic investment of more than CNY 100 million became its largest single equity check in embodied intelligence to date. A CNY 1 billion Series A led by JD.com closed in August 2025 — JD's sixth robotics investment inside three months, alongside its positions in AgiBot, EngineAI, and LimX Dynamics. In March 2026 PaXini closed a Series B of more than CNY 1 billion co-led by Huangpu River Capital, Kaitai Capital, and the state-backed CIM International Group, with affiliates of Meta, BYD, JD.com, and TCL participating. Cumulative funding now exceeds CNY 2 billion (approximately $280 million USD) at a post-money valuation above CNY 10 billion, and the company is reportedly weighing a Hong Kong IPO.
PaXini's competitive positioning is unusual in the current Chinese humanoid landscape. Where Unitree leads on locomotion and cost, Fourier Intelligence on rehabilitation and exoskeletons, and AgiBot on general-purpose bimanual manipulation, PaXini leads on tactile perception — and treats the humanoid itself as a downstream showcase for its sensor stack. That stack is sold both inside PaXini's own robots and, at the component level, to thousands of third-party customers spanning advanced manufacturing, precision assembly, healthcare and rehabilitation, warehousing and logistics, and consumer electronics.
Product lineup: PX-6AX sensors, DexH hands, and the TORA humanoid
PaXini's product line is deliberately vertically stacked. The same tactile sensor that ships in the fingertips of the flagship humanoid is also sold as a standalone component to industrial customers, and each layer up the stack — sensor, hand, arm, humanoid — inherits the sensitivity of the layer below it.
PX-6AX-GEN3 multi-dimensional tactile sensor
The PX-6AX-GEN3 is PaXini's headline tactile sensor: a 6D Hall-array device that reports up to 15 sensing dimensions simultaneously — six-axis force and torque, surface texture, material identification, elastic response, and temperature — with a repeatability of under 0.5% of full scale and sampling rates reaching one million samples per second. The PX-6AX family now spans three product series and twelve models addressing robotics, wearables, and industrial-inspection use cases. Alongside it, PaXini also produces the PX6D/PXTS, which the company describes as the world's first commercial Hall-effect 6D force/torque sensor engineered specifically for embodied AI wrists and joints.
DexH13 (and DexH5) dexterous hands
The DexH13 is PaXini's second-generation multi-dimensional tactile dexterous hand: a four-finger bionic structure with 16 degrees of freedom and more than 1,140 tactile processing units distributed across the fingers and palm, combined with integrated AI vision. An earlier, iF Design Award-winning DexH5 bionic hand remains in the catalog for lighter-weight applications. Both hands ship both as OEM subsystems for third-party humanoid and cobot developers and as the manipulator subsystem for PaXini's own robots.
TORA-ONE (2024) — the flagship tactile humanoid
TORA-ONE — Tactile Oriented Robot of Artificial-intelligence — is the second-generation multi-dimensional tactile humanoid unveiled at the 2024 World Robot Conference in Beijing and shown internationally at iREX 2025 (Tokyo) and CES 2026 (Las Vegas). It carries 53 degrees of freedom, a foldable waist design that lets its standing height adjust from 1.46 m to 1.86 m, and roughly 2,000 ITPU tactile sensing units generating more than 7,800 tactile channels across its body — the highest published tactile density of any commercial humanoid. It also carries a multi-camera vision stack and LiDAR/SLAM navigation, and runs PaXini's OmniVTLA vision-tactile-language-action embodied AI model. At CES 2026 TORA-ONE performed a live, end-to-end ice-cream-making demonstration — operating levers, dispensing ingredients, gripping a paper cup without crushing it, and handing it to a human — without operator teleoperation.
TORA DoubleOne — the mobile-manipulation sibling
TORA DoubleOne (also written TORA-Double-ONE or Model P) is a companion wheeled-humanoid platform emphasizing mobility, obstacle navigation, and dual-arm transport, and less on the fingertip dexterity that defines TORA-ONE. It shares PaXini's sensor and AI stack but is aimed at logistics and material-movement scenarios where a wheeled base is more practical than bipedal walking.
| Model | Year | Height | Weight | Payload | Battery / Runtime | Actuators | Notable |
|---|---|---|---|---|---|---|---|
| TORA-ONE | 2024 | 1.46–1.86 m | Undisclosed | ~5 kg / arm | ~8 hr | Electric BLDC, 53 DoF | ~2,000 ITPU tactile units; OmniVTLA model; ice-cream demo at CES 2026 |
| TORA DoubleOne (Model P) | 2025 | Adjustable | Undisclosed | Dual-arm carry | Undisclosed | Electric BLDC, 56 DoF | Wheeled mobile humanoid; logistics and material-movement focus |
| DexH13 | 2024 | — | Hand-scale | — | External DC | 16 DoF / 4-finger bionic | 1,140+ tactile processing units; vision-tactile OEM hand |
| PX-6AX-GEN3 | 2025 | — | Sensor-scale | — | — | 6D Hall-array | 15 sensing dimensions; <0.5% FS repeatability; 3 series / 12 models |
Technology stack
PaXini's platform is unusual among humanoid robotics companies in that it is built tactile-first. Where most current general-purpose humanoids treat touch as an optional add-on to vision-based control, PaXini's argument is that contact-rich manipulation — the class of tasks that decides whether a humanoid is economically useful in a factory, warehouse, or hospital — is fundamentally a touch problem, and that the semiconductor-grade sensors, embedded compute, and multimodal models required to close that loop are what the company builds.
Perception — ITPU tactile sensors and 6D Hall-array architecture
Every PaXini robot is instrumented with ITPU (Intelligent Tactile Processing Unit) modules built on the company's HAPTA 6D Hall-array architecture. Each unit reports six-axis force and torque plus derived channels for material, surface texture, elastic response, and temperature. TORA-ONE integrates approximately 1,956 ITPU sensors, producing more than 7,824 tactile channels streamed to the onboard compute stack in real time — enough spatial density for the robot to distinguish a hard plastic lever from a soft paper cup and adjust its grip force accordingly.
OmniVTLA embodied-AI model and PX-Core control architecture
OmniVTLA — Vision-Tactile-Language-Action — is PaXini's in-house multimodal foundation model, publicly described as the first VTLA embodied-AI model on the market. Unlike vision-language-action models used by most Western humanoid teams, OmniVTLA ingests high-rate tactile channels alongside camera feeds and natural-language instructions, and emits actuator commands through the PX-Core visual-tactile bimodal control architecture. Because the model treats touch as a first-class input, TORA-ONE can react to slip, unexpected contact, and compliant objects with millisecond-scale feedback loops rather than relying purely on visual re-planning.
Actuators, power, and compute
TORA-ONE uses electric brushless DC (BLDC) actuators throughout — 53 in total on the flagship — with no hydraulics anywhere in the body. Each hand joint's servo controller must deliver high peak torque while maintaining the sub-newton force resolution required for tactile manipulation, which drives the use of high-efficiency wide-bandgap semiconductors — SiC and GaN devices — in the motor-driver stages, tightly matched precision passives on every gate-drive and current-sense channel, and MLCC capacitor banks distributed across every power rail. Onboard compute includes GPU acceleration for OmniVTLA inference and a battery pack rated for approximately eight hours of continuous operation, integrating cell balancing, thermal management, and multi-stage battery-management ICs — subsystems whose reliability is often the practical ceiling on how long a tactile humanoid can run between charges.
Applications and commercial deployments
PaXini publicly reports deployments across more than 50 industries and 1,000+ real-world projects, split between standalone tactile-sensor customers and full-stack humanoid pilots. Representative segments include:
- Advanced manufacturing and precision assembly. Tactile sensors and DexH-series hands used for contact-rich insertion, wafer handling, and precision fastening tasks where force feedback determines yield.
- Automotive and NEV manufacturing. Strategic investors BYD, SAIC Motor, and BAIC Group are among the automaker groups exploring humanoid and tactile-hand deployments on their own assembly lines, in line with the broader Chinese automotive push into embodied AI.
- Warehousing and logistics. JD.com — lead investor in the Series A — has publicly framed PaXini's stack as foundational infrastructure for its own warehouse, sorting, and human-robot collaboration deployments.
- Healthcare, rehabilitation, and service applications. Multi-dimensional tactile hands are used for compliant patient interaction, rehabilitation robotics, and service scenarios such as the CES 2026 ice-cream-making demonstration.
- Consumer electronics and precision instrumentation. Third-party OEMs integrate PX-series sensors into wearables, force-feedback controllers, and quality-inspection tooling.
The robotics supply chain — where Hybrid Electronics fits in
A modern humanoid robot is one of the most component-dense products ever built. A single TORA-class tactile humanoid depends on thousands of individual electronic components: precision BLDC motor drivers, high-torque servo modules, IMUs and 6-DoF force-torque sensors, Hall-effect sensor ICs driving the multi-dimensional tactile arrays, LiDAR and time-of-flight modules, GPU compute boards, battery-management ICs, wide-bandgap SiC/GaN power semiconductors, high-speed board-to-board connectors, precision resistors, and thousands of MLCC capacitors distributed across every power and signal rail.
Building that kind of hardware puts enormous pressure on the electronic-components supply chain. Prototype pilots and low-volume production runs frequently hit allocation, EOL notices, and long lead times on the exact parts they need, and R&D and field-service teams routinely have to support older platforms that use semiconductors no longer in mainstream distribution. During the current humanoid robotics and general-purpose robot AI boom, this pressure is amplified: dozens of well-funded teams — Chinese and Western — are chasing the same short list of high-torque BLDC drivers, precision IMUs, Hall-effect sensor ICs, GPU compute modules, and automotive-grade power semiconductors, and franchise stock on many key parts is now measured in months of lead time rather than weeks.
Hybrid Electronics has been sourcing electronic components for industrial and embedded systems since 1995. For robotics teams — humanoid, mobile, industrial, and research — we specialize in finding the parts you need when mainstream distribution can't:
Obsolete and end-of-life parts
Legacy semiconductors, sensors, connectors, and passives that are no longer in mainstream distribution — the parts that keep older platforms running during transitions to newer hardware, and the long-tail items that block a BOM from closing.
Allocated and hard-to-find active parts
High-torque BLDC motor drivers, IMUs and MEMS sensors, Hall-effect sensor ICs, SiC/GaN power devices, GPU compute modules, precision resistors, and MLCC capacitors caught in allocation or long-lead times. Send us a BOM or a shortage list — we'll confirm what we can source and at what lead time.
Frequently asked questions
Who founded PaXini?
PaXini Technology (Shenzhen) Co., Ltd. was founded in 2021 by Xu Jincheng (also romanized as Hsu Jincheng), who studied robotics under Professor Shigeki Sugano at Waseda University in Tokyo — the laboratory widely credited with building the world's first anthropomorphic humanoid robots. The founding team is drawn largely from that same Waseda robotics lineage, and the company is headquartered in Shenzhen with operations extending across greater China.
What is TORA-ONE?
TORA-ONE (Tactile Oriented Robot of Artificial-intelligence) is PaXini's flagship humanoid robot. It has 53 degrees of freedom, a foldable-waist design that lets the robot adjust its standing height from 1.46 to 1.86 meters, and more than 2,000 multi-dimensional tactile sensing units integrated with multi-camera vision and LiDAR/SLAM navigation. It runs on PaXini's in-house OmniVTLA vision-tactile-language-action embodied AI model.
Where are PaXini robots deployed commercially?
PaXini's tactile sensors and dexterous hands are used across more than 50 industries and 1,000+ real-world projects, with customers spanning advanced manufacturing, precision assembly, healthcare and rehabilitation, warehousing and logistics, and consumer electronics. The company also has strategic-investor relationships with BYD, JD.com, SAIC Motor, BAIC Group, and TCL, several of which are exploring humanoid deployments in their own facilities.
How much has PaXini raised?
PaXini has raised more than CNY 2 billion (approximately $280 million USD) cumulatively across angel, pre-A, Series A, and Series B rounds. A CNY 1 billion Series A led by JD.com closed in August 2025, and a subsequent Series B of more than CNY 1 billion in March 2026 — co-led by Huangpu River Capital, Kaitai Capital, and the state-backed CIM International Group, with affiliates of Meta, BYD, JD.com, and TCL participating — placed the post-money valuation above CNY 10 billion (roughly $1.45 billion USD). The company is reportedly weighing a Hong Kong IPO.
Is Hybrid Electronics affiliated with PaXini?
No. Hybrid Electronics is an independent electronic-components sourcing company. We are not a distributor, reseller, or partner of PaXini. All trademarks are property of their respective owners. Hybrid supports robotics developers by sourcing obsolete, allocated, and hard-to-find semiconductors, sensors, connectors, and passives for R&D, prototype, and low-volume production builds.
Can Hybrid help with components for humanoid robotics builds?
Yes. We regularly support R&D and integrator teams with hard-to-find semiconductors, BLDC motor-driver ICs, IMUs and other MEMS sensors, Hall-effect sensor ICs, connectors, SiC/GaN power devices, and precision passives for the industrial and embedded boards used in robotics platforms. Send us a BOM or a short list of shortages and we'll confirm availability and pricing.
Trademark and affiliation notice. PaXini®, TORA-ONE, TORA DoubleOne, DexH13, DexH5, PX-6AX, PX6D, PXTS, ITPU, HAPTA, and OmniVTLA are trademarks of PaXini Technology (Shenzhen) Co., Ltd. Hybrid Electronics is an independent electronic-components sourcing company and is not affiliated with, endorsed by, or authorized by PaXini Technology (Shenzhen) Co., Ltd. All information on this page is compiled from public sources for educational and reference purposes.