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At the heart of it is a nice 3 axis magnetometer chip[1] in an array. The magnetic particles embedded in the replaceable skin get oriented in parallel at the magnetization stage of manufacture. This is a really interesting mix of stuff towards the leading edge of stuff we can all use in the home shop.

[1] https://www.digikey.com/en/products/detail/melexis-technolog...

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Yeah, they frustratingly leave out the design of their circuit and the part from the paper but reference their older work.

ReSkin: versatile, replaceable, lasting tactile skins https://arxiv.org/abs/2111.00071

> Z- coordinate system [36]. For an overall sensing area of 20mm x 20mm (Figure 3), we measure magnetic flux changes using 5 magnetometers. Four magnetometers (MLX90393; Melexis) are spaced 7mm apart around a central magnetometer. All 3D-printed molds, circuit board files, bill of materials, and libraries used have been publicly released and opensourced on the website

https://reskin.dev/

a breakboard is available here https://www.adafruit.com/product/4022

We only leave the circuit design out because it is identical to Reskin! https://ReSkin.dev

More than happy to answer questions about it either here or on my email as the corresponding author on the paper!

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