DexSkin Open-Source

Release Status

We are preparing a staged open-source release of DexSkin hardware and software. Full designs and code will be available toward the end of Feb 2026.

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DexSkin Finger Design & Assembly

Mechanical CAD, soft sleeve molds, and finger assembly instructions.

• Finger core CAD
• TPE sleeve design
• Assembly documentation

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Pneumatic Calibration Setup

Hardware and scripts for force calibration using controlled pneumatic loading.

• Calibration rig design
• Pressure control setup
• Force mapping scripts

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Flexible PCB Designs

fPCB layouts for taxel routing and electrode connections.

• Gerbers
• Board schematics
• Fabrication notes

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Readout Electronics & Firmware

ESP32 firmware, readout boards, and host-side interfaces.

• Controller PCB
• ESP32 firmware
• Python drivers

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Robot Integration & Learning Code

Example pipelines for calibration, data collection, and residual RL on real robots.

• Tactile processing
• Calibration utilities
• Residual RL examples