Implementation details.
Hardware setup, tactile sensor integration, model training commands, and a step-by-step reproduction guide.
Hardware stack.
Robot arm
SO-ARM100/101 low-cost robotic arm. The follower arm is extended with tactile sensor streams; the leader arm is used for teleoperation and demo collection.
SO-ARM100 on GitHubTactile sensor
FlexiTac sensor mounted on a custom gripper. The driver reads tactile frames at 2,000,000 baud and exposes a 12 x 32 tactile map.
FlexiTac usage guideCustom gripper CAD
Modified gripper designed for integrated tactile sensor mounting. The Moving Jaw holds the FlexiTac sensor pad, and the Wrist Roll replaces the stock SO-ARM100 wrist to accommodate the new jaw geometry and wiring.
Moving Jaw
Download STLWrist Roll
Download STLEnd-to-end reproduction pipeline.
Practical tips and common pitfalls.
Found a problem?
If you encounter any issues, please open an issue directly on our GitHub repository.
Open an Issue