2 layers7.7 × 6.8 mm InSkinAccv2, the printed circuit board in 3D

InSkinAccv2

A bioinspired electronic skin system for robotic applications, combining FSR (force-sensing resistor) arrays and accelerometer arrays.

Open in PCBKit

Size: 7.7 × 6.8 mm
Copper layers: 2
Thickness: 1.6 mm
Parts: 14
Nets: 9
Pads: 31
Tracks, vias: 14, 3
Routed: Yes
KiCad: KiCad 7 (file 20221018)
Created: 27 Jun 2022
Updated: 7 May 2026

Overview

InSkinAccv2 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 7.7 × 6.8 mm with 14 parts on 9 nets, routed with 14 tracks and 3 vias.

It is built around the KX134-1211. Its parts include 11 connectors, 2 capacitors and 1 IC.

Main components

KX134-1211
LGA-12(2x2)16bit Accelerometer I2C X,Y,Z ±8g 运动事件检测 LGA-12(2x2) Accelerometers ROHSROHM SemiconductorAccelerometers

README

README.md

E-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

text

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 scripts

Requirements

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

bash

cd host
mkdir build && cd build
cmake .. && make
./FSR_array -h  # Show usage

Firmware

Upload src/Eskin/Eskin.ino to Teensy 4.1 using Arduino IDE or PlatformIO.

Board: Teensy 4.1
Port: /dev/ttyACM0 (Linux) or COMx (Windows)

Python Data Recorder

bash

pip install -r script/requirements.txt
python script/record.py <port> <array_size>
# Example: python script/record.py /dev/ttyACM0 16

Communication 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:

bash

git submodule update --init --recursive

Example

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

Qty	Value	Footprint	References
11	Conn_01x01_Female	Connector_Wire:SolderWirePad_1x01_SMD_1x2mm	J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, J11
1	100n	Capacitor_SMD:C_01005_0402Metric	C2
1	1u	Capacitor_SMD:C_01005_0402Metric	C1
1	KX134-1211	00_custom-footprints:KX134-1211	U1

Questions

How big is the InSkinAccv2 PCB?

It measures 7.7 × 6.8 mm and has 2 copper layers, 1.6 mm thick.

What parts does the InSkinAccv2 use?

14 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 InSkinAccv2 KiCad files?

From the Aightech/e-skin repository on GitHub, at the commit this page was made from: the board is models/inSkinAccv2/inSkinAccv2.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 InSkinAccv2 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).

Project files

Show this board on your page

A live frame, for any web page

<iframe src="https://pcbkit.io/embed/boards/aightech-e-skin-inskinaccv2" title="InSkinAccv2 in PCBKit" width="100%" height="480" style="border:0;border-radius:12px" allow="fullscreen" loading="lazy"></iframe>

A picture

<img src="https://pcbkit.io/embed/boards/aightech-e-skin-inskinaccv2.jpg" alt="InSkinAccv2" width="1200" height="900">

A picture that opens the board, for a README

[![InSkinAccv2](https://pcbkit.io/embed/boards/aightech-e-skin-inskinaccv2.jpg?size=s)](https://pcbkit.io/boards/aightech-e-skin-inskinaccv2)

Source

Repository: Aightech/e-skin
Board file: models/inSkinAccv2/inSkinAccv2.kicad_pcb
Commit: 0f795ee
Licence: GPL-3.0

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