diff --git a/nao_apps/nodes/nao_tactile.py b/nao_apps/nodes/nao_tactile.py
index 5bfdf07..97c56c3 100755
--- a/nao_apps/nodes/nao_tactile.py
+++ b/nao_apps/nodes/nao_tactile.py
@@ -35,7 +35,7 @@
 import rospy
 
 import naoqi
-from naoqi_bridge_msgs.msg import HeadTouch, Bumper
+from naoqi_bridge_msgs.msg import HandTouch, HeadTouch, Bumper
 from std_msgs.msg import Bool
 from naoqi_driver.naoqi_node import NaoqiNode
 from naoqi import ( ALModule, ALBroker, ALProxy )
@@ -83,9 +83,11 @@ def __init__(self, moduleName):
         rospy.init_node('nao_tactile')
 
         # init. messages:
-        self.tactile = HeadTouch()
+        self.headTactile = HeadTouch()
+        self.handTactile = HandTouch()
         self.bumper = Bumper()
-        self.tactilePub = rospy.Publisher("tactile_touch", HeadTouch, queue_size=10)
+        self.headTactilePub = rospy.Publisher("head_touch", HeadTouch, queue_size=10)
+        self.handTactilePub = rospy.Publisher("hand_touch", HandTouch, queue_size=10)
         self.bumperPub = rospy.Publisher("bumper", Bumper, queue_size=10)
 
         try:
@@ -104,9 +106,15 @@ def __init__(self, moduleName):
         # constants in HeadTouch and Bumper will not be available in callback functions
         # as they are executed in the parent broker context (i.e. on robot),
         # so they have to be copied to member variables
-        self.tactileTouchFrontButton = HeadTouch.buttonFront;
-        self.tactileTouchMiddleButton = HeadTouch.buttonMiddle;
-        self.tactileTouchRearButton = HeadTouch.buttonRear;
+        self.headTactileTouchFrontButton = HeadTouch.buttonFront;
+        self.headTactileTouchMiddleButton = HeadTouch.buttonMiddle;
+        self.headTactileTouchRearButton = HeadTouch.buttonRear;
+        self.handTactileTouchRightBack = HandTouch.RIGHT_BACK;
+        self.handTactileTouchRightLeft = HandTouch.RIGHT_LEFT;
+        self.handTactileTouchRightRight = HandTouch.RIGHT_RIGHT;
+        self.handTactileTouchLeftBack = HandTouch.LEFT_BACK;
+        self.handTactileTouchLeftLeft = HandTouch.LEFT_LEFT;
+        self.TactileTouchLeftRight = HandTouch.LEFT_RIGHT;
         self.bumperRightButton = Bumper.right;
         self.bumperLeftButton = Bumper.left;
 
@@ -144,6 +152,12 @@ def subscribe(self):
         self.memProxy.subscribeToEvent("FrontTactilTouched", self.moduleName, "onTactileChanged")
         self.memProxy.subscribeToEvent("MiddleTactilTouched", self.moduleName, "onTactileChanged")
         self.memProxy.subscribeToEvent("RearTactilTouched", self.moduleName, "onTactileChanged")
+        self.memProxy.subscribeToEvent("HandLeftBackTouched", self.moduleName, "onTactileChanged")
+        self.memProxy.subscribeToEvent("HandLeftLeftTouched", self.moduleName, "onTactileChanged")
+        self.memProxy.subscribeToEvent("HandLeftRightTouched", self.moduleName, "onTactileChanged")
+        self.memProxy.subscribeToEvent("HandRightBackTouched", self.moduleName, "onTactileChanged")
+        self.memProxy.subscribeToEvent("HandRightLeftTouched", self.moduleName, "onTactileChanged")
+        self.memProxy.subscribeToEvent("HandRightRightTouched", self.moduleName, "onTactileChanged")
         self.memProxy.subscribeToEvent("RightBumperPressed", self.moduleName, "onBumperChanged")
         self.memProxy.subscribeToEvent("LeftBumperPressed", self.moduleName, "onBumperChanged")
         if self.hasFootContactKey:
@@ -156,6 +170,12 @@ def unsubscribe(self):
         self.memProxy.unsubscribeToEvent("RearTactilTouched", self.moduleName)
         self.memProxy.unsubscribeToEvent("RightBumperPressed", self.moduleName)
         self.memProxy.unsubscribeToEvent("LeftBumperPressed", self.moduleName)
+        self.memProxy.unsubscribeToEvent("HandLeftBackTouched", self.moduleName)
+        self.memProxy.unsubscribeToEvent("HandLeftLeftTouched", self.moduleName)
+        self.memProxy.unsubscribeToEvent("HandLeftRightTouched", self.moduleName)
+        self.memProxy.unsubscribeToEvent("HandRightBackTouched", self.moduleName)
+        self.memProxy.unsubscribeToEvent("HandRightLeftTouched", self.moduleName)
+        self.memProxy.unsubscribeToEvent("HandRightRightTouched", self.moduleName)
         if self.hasFootContactKey:
             self.memProxy.unsubscribeToEvent("footContactChanged", self.moduleName)
 
@@ -163,14 +183,28 @@ def unsubscribe(self):
     def onTactileChanged(self, strVarName, value, strMessage):
         "Called when tactile touch status changes in ALMemory"
         if strVarName == "FrontTactilTouched":
-            self.tactile.button = self.tactileTouchFrontButton
+            self.headTactile.button = self.headTactileTouchFrontButton
         elif strVarName == "MiddleTactilTouched":
-            self.tactile.button = self.tactileTouchMiddleButton
+            self.headTactile.button = self.headTactileTouchMiddleButton
         elif strVarName == "RearTactilTouched":
-            self.tactile.button = self.tactileTouchRearButton
-
-        self.tactile.state = int(value);
-        self.tactilePub.publish(self.tactile)
+            self.headTactile.button = self.headTactileTouchRearButton
+        elif strVarName == "HandLeftBackTouched":
+            self.handTactile.hand = self.handTactileTouchRightBack
+        elif strVarName == "HandLeftLeftTouched":
+            self.handTactile.hand = self.handTactileTouchRightLeft
+        elif strVarName == "HandLeftRightTouched":
+            self.handTactile.hand = self.handTactileTouchRightRight
+        elif strVarName == "HandRightBackTouched":
+            self.handTactile.hand = self.handTactileTouchLeftBack
+        elif strVarName == "HandRightLeftTouched":
+            self.handTactile.hand = self.handTactileTouchLeftLeft
+        elif strVarName == "HandRightRightTouched":
+            self.handTactile.hand = self.handTactileTouchLeftRight
+
+        self.handTactile.state = int(value);
+        self.headTactile.state = int(value);
+        self.headTactilePub.publish(self.headTactile)
+        self.handTactilePub.publish(self.handTactile)
         rospy.logdebug("tactile touched: name=%s, value=%d, message=%s.", strVarName, value, strMessage);
 
     def onBumperChanged(self, strVarName, value, strMessage):