[go: up one dir, main page]
FlexiTac An Open-Source, Scalable Tactile Solution
for Robotic Systems Binghao Huang , Yunzhu Li
columbia logo
Arxiv (Pending) Youtube Hardware Repo Hardware Tutorial Discord Community Explore

Simple to build. Scalable to deploy.

Open-Source Hardware

Hardware tutorials, BOMs, and build resources.

Simulation Support

Tactile simulation for robot learning workflows.

Robot Learning Pipelines

From sensor integration to machine learning.

Request a Sample
Overview Bringing touch to every robot lab

FlexiTac is a scalable, flexible tactile sensor designed to make touch sensing accessible for robotics. It integrates easily into diverse platforms and manipulation tasks. Our goal is to make tactile sensing simpler to build, easier to customize, and more practical to deploy.

Overview

FlexiTac is a flexible tactile sensing solution designed to make tactile sensing accessible to the robotics community. Built with scalability and adaptability in mind, FlexiTac can be integrated into a wide range of robotic platforms and manipulation tasks.

Summary Video

A short walkthrough of the tactile hardware fabrication and representative robotics applications.

Hardware Hardware Overview

Two sensor generations with different fabrication trade-offs, plus open-source resources for reproduction and deployment.

Featured Hardware
FlexiTac-V2

Fabrication time: ~3 mins

FPC-based · 2 mm grid · 32×12 resolution · $2.5 per sensor piece

Request a Sample Hardware Repo Hardware Tutorial
FlexiTac-V2 Hardware
FlexiTac sensor
Hardware Tutorial Preview

Teleoperation Demo 1
Force Feedback with FlexiTac

Teleoperation Demo 2
Cable Routing with FlexiTac

Legacy Hardware
FlexiTac-V1

Fabrication time: ~30 mins

3 mm grid · 16×16 resolution · $5 per sensor piece

Featured in 3D-ViTac (CoRL 2024) for fine-grained visuo-tactile manipulation.


arXiv Project Website Video Twitter Method Code
Simulation

Tactile Simulation

Penalty-based tactile simulation for different simulation platforms.

Tactile Simulation in Isaac Sim

A tactile simulation in Isaac Sim and Web-based interaction demo for data collection.

Tactile in Isaac Sim Repo
Isaac Sim Tactile Simulation Demo
Web-Based Data Collection
Real-Sim-Real Tactile Pipeline

Featured in VT-Refine (CoRL 2025) for bimanual assembly via visuo-tactile simulation fine-tuning.

arXiv Project Website Video Twitter Code
Simulation Example 1
Simulation Example 2
System Designs

System Design Examples

Representative examples showing how FlexiTac can be integrated into different robotic platforms.

Portable Visuo-Tactile Gripper

Featured in Touch in the Wild (NeurIPS 2025) for large scale data collection in the wild.

arXiv Project Website Video Twitter Code Dataset
Portable Visuo-Tactile Gripper Portable Visuo-Tactile Gripper
xArm Integration xArm Integration

Other Robotic Integrations

LeRobot LeRobot Integration
Franka + Skin Franka with Tactile Skin
Robotiq Robotiq Gripper Integration
Tactile Glove Tactile Glove
Community

FlexiTac Community

We are excited to see FlexiTac reach labs, students, and researchers around the world.

Join our Discord Community Join our WeChat Group
FlexiTac worldwide reach
Institutions using or exploring FlexiTac

Thank you for visiting and supporting open-source tactile sensing.

Q & A

Frequently Asked Questions


How long does it take to ship PCB or FPC pieces?

Once you place an order, it typically takes around 1–2 weeks for the PCB or FPC pieces to be fabricated and shipped, depending on your location and the shipping method.

How robust is the sensor to wear and tear?

In our experience, the sensor shows good consistency over time and can often be used for around a year without significant degradation. Some teams have collected thousands of demonstrations without breaking the sensor.

What if some sensor pieces are damaged or malfunctioning?

We usually recommend ordering a few extra sensor pieces as backups. In our practice, replacing a damaged sensor with a new one typically does not noticeably affect performance, suggesting good consistency across different sensor instances.