Firmware Engineer – Hands

Apptronik is a human-centered robotics company developing AI-powered robots to support humanity in every facet of life. Our flagship humanoid robot, Apollo, is built to collaborate thoughtfully with people, starting with critical industries such as manufacturing and logistics, with future applications in healthcare, the home, and beyond. We operate at the cutting edge of Applied AI, applying our expertise across the full robotics stack to solve some of society's most important problems. You will join a team dedicated to bringing Apollo to market at scale, tackling the complex challenges like safety, commercialization, and mass production to change the world for the better. JOB SUMMARY We are seeking a Firmware Engineer to help develop firmware for the dexterous hands of our humanoid robots. You will collaborate with our existing hands firmware team to implement, test, and debug the embedded software that drives our in-house hand designs, including motor control, sensor integration, and the real-time communications that connect the hand to the rest of the robot. You will work closely with mechanical, electrical, and systems engineers as the hand evolves from prototype to production, contribute to hardware bring-up, and help build out HIL and SIL tests for hand firmware. You will help maintain firmware quality and reliability as we scale from prototypes to fleets of hundreds of hands deployed in the field. As you grow on the team, you will participate in code and design reviews and contribute to our hands firmware stack alongside more experienced engineers, with mentorship and support along the way. ESSENTIAL DUTIES AND RESPONSIBILITIES or KEY ACCOUNTABILITIES Collaborate with the hands firmware team to develop, deploy, and maintain firmware for in-house dexterous hand designs, including motor control, sensor I/O, and real-time communications. Work closely with mechanical engineers as the hand design evolves; ensure firmware tracks the mechanical design and exposes the right interfaces for tuning and validation. ● Contribute to motor control firmware for the small motors that drive the hand, including current control and basic position/torque loops. Develop firmware for distributed embedded networks that connect multiple MCUs. ● Help shape and execute the Hardware-in-the-Loop (HIL) and Software-in-the-Loop (SIL) testing strategy to validate hand performance, safety, and reliability at scale. ● Help drive firmware quality, reliability, and field performance for fleets of hundreds of hands deployed in production humanoid robots, including telemetry, diagnostics, and root-cause analysis of field failures. Work with cross-functional engineering teams to bring up hand hardware from prototype through production. Participate in code reviews, design reviews, and pair debugging, learning from and contributing alongside senior engineers. Contribute to discussions on tooling, processes, and patterns, with guidance from more experienced engineers. SKILLS AND REQUIREMENTS Experience with humanoid robotics, prosthetics, dexterous manipulation, or other compact electromechanical systems. Experience with EtherCAT for real-time embedded communications. Experience developing in C and C++ for TI C2000 microcontrollers. Familiarity with safety-critical embedded system design standards, including MISRA C and ISO 26262. Exposure to Agile workflows, including sprint planning, design reviews, and code reviews. Experience integrating tactile, force, or position sensors into embedded systems. ● Familiarity with model-based design tools (e.g., MATLAB/Simulink) for control design and code generation. Contributions to firmware tooling, build systems, or developer infrastructure. Familiarity with real-time embedded firmware concepts and an eagerness to develop hard real-time skills. Familiarity with motor control concepts for BLDC motors (e.g., field-oriented control, current control, or position control). Familiarity with distributed embedded networks where multiple MCUs cooperate over real-time buses. Exposure to deploying firmware to embedded devices through internships, projects, or coursework. Strong hardware debugging skills using tools such as oscilloscopes and logic analyzers. ● Ability to read and interpret electrical schematics (Altium Designer preferred) and hardware datasheets. Experience with embedded communication protocols such as SPI, UART, RS485, and CAN. Demonstrated ability to work closely with mechanical engineers on tightly integrated electromechanical assemblies. Eagerness to learn, take feedback, and grow technically within a collaborative team setting. EDUCATION and/or EXPERIENCE Bachelor's degree in Electrical Engineering, Computer Engineering, Mechanical Engineering, or equivalent practical experience; Master's degree with a focus on controls, motor drives, or embedded systems is especially valued. 0–2 years of relevant experience developing embedded software, including internships, co-ops, research, or significant academic or personal projects; recent graduates are encouraged to apply. Solid working proficiency in C/C++; familiarity with Python, Docker, and Git. ● Exposure to firmware development for resource-constrained embedded hardware (limited flash, RAM, and CPU; many peripherals across few MCUs). PHYSICAL REQUIREMENTS: Prolonged periods of sitting at a desk and working on a computer Must be able to lift 15 pounds at times Vision to read printed materials and a computer screen Hearing and speech to communicate *This is a direct hire. Please, no outside Agency solicitations. Apptronik provides equal employment opportunities to all employees and applicants for employment and prohibits discrimination and harassment of any type without regard to race, color, religion, age, sex, national origin, disability status, genetics, protected veteran status, sexual orientation, gender identity or expression, or any other characteristic protected by federal, state or local laws.