mekaHandTouchInterface N² diagram Component ↓ / → Sensor Array Data Acquisition Filter Component Config Component Communication Component ROS2 HW Interface Sensor Array ← Sensor address Data Acquisition → Raw sensor value → Raw data Filter Component ← Raw data ← Filter parameters → Filtered sensor data Config Component → Filter parameters ← Configuration data Communication Component ← Filtered sensor data → Configuration data ↔ Handshake & data ROS2 HW Interface ↔ Handshake & config + data