How to retrieve "9-point pressure values" for Piezoresistive Revo 2 Tactile Hand?

[birdomi]

Hello, thank you for your excellent work.

According to the Revo 2 manual, it is stated that:

"The Piezoresistive Revo 2 Tactile Dexterous Hand is equipped with 9 sampling points on each finger... Users can read the 9-point pressure values of each finger via registers and retrieve the firmware version string (10 bytes)."

However, to my knowledge, the current SDK only supports tactile sensors on the fingertips. I am wondering if there is a way to retrieve the 9-point pressure sensor values using SDK-level code.

• Is there a way to retrieve pressure values similar to how tactile sensor values are retrieved in revo2_touch.cpp (https://github.com/BrainCoTech/stark-serialport-example/blob/main/linux/revo2/revo2_touch.cpp)?

• If not, could you please provide a minimal code snippet demonstrating how to correctly configure the tactile data switches and read the 9-point values for all 5 fingers?

Thank you.

[Yongle-Fu]

Thanks for your question 🙂

Please note that retrieving the 9-point pressure values requires using the Revo2 Touch (PRESSURE) device, as this feature is only supported on that hardware variant.

You can refer to the following examples to read tactile and pressure-related data:

C/C++ example:
hand_monitor.cpp

Run the example with:

./hand_monitor.exe dual

Python example:
revo2_touch_pressure.py

These examples show how to enable tactile data streaming and retrieve pressure values for all five fingers, including the 9-point sampling data.

If you run into any issues or have further questions, feel free to ask. We're happy to help.

[birdomi]

Thank you for your help.

[birdomi]

Hello again.

I have confusion about whether my Revo2-touch has pressure sensor.

  // [DEBUG] Check device info and touch type
    CDeviceInfo* info = stark_get_device_info(handle, slave_id);
    int hw_type = -1;
    if (info) {
        hw_type = info->hardware_type;
        spdlog::info("[Worker {}] Device: HW={}, FW={}", ns, hw_type, info->firmware_version);
        free_device_info(info);
    } else {
        spdlog::warn("[Worker {}] Failed to get device info", ns);
    }
    
    if (hw_type != -1) {
        uint8_t touch_type = stark_get_touch_vendor(handle, slave_id); 
        spdlog::info("[Worker {}] Touch Sensor Type: {} (0=None, 1=Capacitive, 2=Pressure)", ns, (int)touch_type);
    
    }
    
    if (hw_type != -1) {
        uint8_t touch_type = stark_get_touch_sensor_type((uint8_t)hw_type); 
        spdlog::info("[Worker {}] Touch Sensor Type: {} (0=None, 1=Capacitive, 2=Pressure)", ns, (int)touch_type);
    }

    if (hw_type != -1) {
        bool is_revo2 = stark_uses_revo2_touch_api((uint8_t)hw_type);
        bool is_pressure = stark_uses_pressure_touch_api((uint8_t)hw_type);
        spdlog::info("[Worker {}] API Check: Revo2={}, Pressure={}", ns, is_revo2, is_pressure);
    }
    if (info) {
        bool has_touch = device_info_is_touch(info);
        bool uses_revo2 = device_info_uses_revo2_touch_api(info);
        spdlog::info("[Worker {}] API Check2: Revo2={}, Pressure={}", ns, has_touch, uses_revo2);
    }

[2026-02-18 16:13:31.193] [info] [Worker left] Device: HW=6, FW=1.0.14.U
[2026-02-18 16:13:31.193] [info] [Worker left] Touch Sensor Type: 1 (0=None, 1=Capacitive, 2=Pressure)
[2026-02-18 16:13:31.193] [info] [Worker left] Touch Sensor Type: 1 (0=None, 1=Capacitive, 2=Pressure)
[2026-02-18 16:13:31.193] [info] [Worker left] API Check: Revo2=true, Pressure=false
[2026-02-18 16:13:31.193] [info] [Worker left] API Check2: Revo2=false, Pressure=false

Based on the result, my hardware appears to be the Revo2 Touch. My understanding is that this model includes fingertip tactile sensors without pressure sensors on palm and fingers. Is this correct?

Thank you.