The multi-dimensional tactile sensing technology independently developed and produced by PaXini is realized by the HAPTA heterogeneous multi-array software and hardware architecture (Hetero-Array Probing Tactile Architecture). Under it, the ITPU multi-dimensional tactile sensing unit (Intelligent Tactile Processing Unit) and tactile algorithms are integrated, which can fully support the ITPU to accurately perceive in complex general-purpose scenarios and provide robot users with easy-to-use and rich tactile information for millisecond-level decision-making and high-level perception.