We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, flexible tactile sensor pads that provide dense tactile signals and (ii) a compact multi-channel readout board that streams synchronized measurements for real-time control and large-scale data collection. FlexiTac pads adopt a sealed three-layer laminate stack (FPC-Velostat-FPC) with electrode patterns directly integrated into flexible printed circuits, substantially improving fabrication throughput and repeatability while maintaining mechanical compliance for deployment on both rigid and soft grippers. The readout electronics use widely available, low-cost components and stream tactile signals to a host computer at 100 Hz via serial communication. Across multiple configurations, including fingertip pads and larger tactile mats, FlexiTac can be mounted on diverse platforms without major mechanical redesign. We further show that FlexiTac supports modern tactile learning pipelines, including 3D visuo-tactile fusion for contact-aware decision making, cross-embodiment skill transfer, and real-to-sim-to-real fine-tuning with GPU-parallel tactile simulation. Our project page is available at https://flexitac.github.io/.

翻译：我们提出了FlexiTac，一种专为机器人末端执行器设计的低成本、开源且可扩展的压阻式触觉传感解决方案。FlexiTac是一个实用的“即插即用”模块，包含：(i) 提供密集触觉信号的薄型柔性触觉传感片，以及 (ii) 紧凑的多通道读出板，可传输同步测量数据，用于实时控制和大规模数据采集。FlexiTac传感片采用密封的三层叠层结构（FPC-Velostat-FPC），电极图案直接集成于柔性印刷电路，在保持机械柔顺性以适用于刚性及柔性夹爪的同时，显著提升了制造通量和可重复性。读出电子元件采用广泛可用的低成本器件，通过串行通信以100 Hz频率将触觉信号传输至主机。从指尖传感片到大型触觉垫等多种配置下，FlexiTac可安装于多种平台而无需大幅修改机械设计。我们进一步证明，FlexiTac支持现代触觉学习流程，包括用于接触感知决策的三维视觉-触觉融合、跨本体技能迁移，以及利用GPU并行触觉模拟进行真实-仿真-真实微调。我们的项目页面位于 https://flexitac.github.io/。