If you soak your dry chickpeas with some baking soda (and cook the chickpeas with a bit of baking soda), the skins will loosen a lot and peel off during cooking. At least most of them will peel. The recipe I linked uses this method.
We then just peel* the rest before putting them into the cuisinart. Easy peasy.
*Hardest part is dealing with the heat of the freshly cooked chickpeas, not the actual pulling of the skins.