2 layers113 × 113 mm
LIS3DH array
Aightech/e-skin
A bioinspired electronic skin system for robotic applications, combining FSR (force-sensing resistor) arrays and accelerometer arrays.
146 parts2GPL-3.0
2 layers12.5 × 11 mm
Inskinacc
Aightech/e-skin2A bioinspired electronic skin system for robotic applications, combining FSR (force-sensing resistor) arrays and accelerometer arrays.
- Size
- 12.5 × 11 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 5
- Nets
- 10
- Pads
- 30
- Tracks, vias
- 56, 4
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 6 (file 20211014)
- Created
- 27 Jun 2022
- Updated
- 7 May 2026
Overview
Inskinacc is an open-source printed circuit board by Aightech, from the Aightech/e-skin repository on GitHub, published under the GPL-3.0 licence. It is a 2-layer board of 12.5 × 11 mm with 5 parts on 10 nets, routed with 56 tracks and 4 vias.
It is built around the KX134-1211. Its parts include 2 capacitors, 1 IC and 1 connector.
Main components
1README
README.mdE-Skin
A bioinspired electronic skin system for robotic applications, combining FSR (force-sensing resistor) arrays and accelerometer arrays.
Overview
The electronic board uses two multiplexers and two 16-channel ADCs to read the FSRs. The multiplexers select the row or column of the FSR array, while the ADCs read the sensor values. A Teensy 4.1 controls the multiplexers and ADCs and sends data to the computer via USB or Ethernet.
Operation modes:
- Single mode: Connect one FSR array with up to 32x32 sensors
- Dual mode: Connect two FSR arrays with up to 16x16 sensors each
Sampling rate: ~400 KHz/channel (1562.5 Hz for a 16x16 array)
Project Structure
e-skin/
├── host/ # C++/Qt host application
│ ├── src/ # Source code (main.cpp)
│ └── lib/ # Git submodules (com_client, built_lsl)
├── src/ # Teensy firmware
│ └── Eskin/ # Main production firmware
├── models/ # KiCAD PCB designs
│ ├── KiCAD/ # Main control board (MUX + ADC)
│ ├── customSquare16x16/ # 16x16 FSR array
│ ├── customSquare8x8/ # 8x8 FSR array
│ ├── LIS2DH_array/ # LIS2DH accelerometer array
│ ├── KX134_array/ # KX134 accelerometer array
│ └── inskinacc/ # In-skin accelerometer
└── script/ # Python/MATLAB data acquisition scriptsRequirements
Host Application
- CMake 3.3+
- Qt6 (Core, Widgets, PrintSupport)
- C++11 compiler
Firmware
- Arduino IDE or PlatformIO
- Teensy 4.1 board support
Python Scripts
- Python 3.x
- Dependencies:
pip install -r script/requirements.txt
Building
Host Application
cd host
mkdir build && cd build
cmake .. && make
./FSR_array -h # Show usageFirmware
Upload src/Eskin/Eskin.ino to Teensy 4.1 using Arduino IDE or PlatformIO.
- Board: Teensy 4.1
- Port:
/dev/ttyACM0(Linux) orCOMx(Windows)
Python Data Recorder
pip install -r script/requirements.txt
python script/record.py <port> <array_size>
# Example: python script/record.py /dev/ttyACM0 16Communication Protocol
- Serial: 500000 baud
- Ethernet: TCP port 5000
- Command format: 1 byte (2 MSB = mode, 6 LSB = array size)
- Mode 0: Request 1 FSR array
- Mode 1: Request 2 FSR arrays
- Mode 2: Request 1 ACC array
- Mode 3: Request 1 ACC array + 2 FSR arrays
- Response: 4-byte timestamps + uint16_t sensor data
Submodule Dependencies
- built_lsl - Lab Streaming Layer integration
- com_client - Serial/TCP communication library
Initialize submodules:
git submodule update --init --recursiveExample
See main.cpp for an example of how to use the communication library.
Contributing
See CONTRIBUTING.md for details on our code of conduct and the process for submitting pull requests.
Parts
5| Qty | Value | Footprint | References |
|---|---|---|---|
| 1 | 100n | Capacitor_SMD:C_01005_0402Metric | C1 |
| 1 | 1u | Capacitor_SMD:C_01005_0402Metric | C2 |
| 1 | Conn_01x09_Male | Connector_PinSocket_1.27mm:PinSocket_1x09_P1.27mm_Vertical | J1 |
| 1 | KX134-1211 | digikey-footprints:KX134-1211 | U1 |
| 1 | MountingHole | MountingHole:MountingHole_2.2mm_M2 | H2 |
Questions
How big is the Inskinacc PCB?
It measures 12.5 × 11 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Inskinacc use?
5 parts, built around the KX134-1211. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Inskinacc KiCad files?
From the Aightech/e-skin repository on GitHub, at the commit this page was made from: the board is models/inskinacc/inskinacc.kicad_pcb and its schematic models/FSRray/FSRray.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Inskinacc design in my own project?
Its repository publishes it under the GPL-3.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
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