I used an Arduino Pro Mini along with the CapacitiveTouch library to build a 5-channel touch-to-NeuroBytes sensor board (with two NeuroBytes-compatible outputs per channel). The adapter comes in two parts, the board and the harness:

I haven't connected any sense wires yet, but after randomly linking them to various Motor NeuroBytes attached to the 3-axis arm, I was able to get a bit of movement:

The code is fairly trivial; if you're curious, I pushed it to the GitHub repo under /Firmware/v04_touch_input_PM (for Pro Mini). More to come!