ArticleFrontiers in robotics and AI2021
Fabrication of a Soft Robotic Gripper With Integrated Strain Sensing Elements Using Multi-Material Additive Manufacturing.
Article in Frontiers in robotics and AI, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed, 63 citations in OpenAlex.
- Programmable somatosensory soft robots.Npj flexible electronics · 2026Article
- Influence of Substrate Material and Sensor Geometry Variations on the Performance of Fused Deposition Modeling-Printed Strain Sensors.3D printing and additive manufacturing · 2025Article
- PVDF-based flexible piezoelectric tactile sensor for slip estimation using robotic gripper.Frontiers in robotics and AI · 2025Article
- Smart Spare Parts (SSP) in the Context of Industry 4.0: A Systematic Review.Sensors (Basel, Switzerland) · 2024Review
- Review: Application of 3D Printing Technology in Soft Robots.3D printing and additive manufacturing · 2024Review
- Soft Self-Regulating Heating Elements for Thermoplastic Elastomer-Based Electronic Skin Applications.3D printing and additive manufacturing · 2024Article
- Soft Wearable Piezoresistive Sensors Based on Natural Rubber Fabricated with a Customized Vat-Based Additive Manufacturing Process.Polymers · 2023Article
- 4-Dimensional printing: exploring current and future capabilities in biomedical and healthcare systems-a Concise review.Frontiers in bioengineering and biotechnology · 2023Review
Corrections and comments
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Authors and funding
3 authors at 2 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
With the purpose of making soft robotic structures with embedded sensors, additive manufacturing techniques like fused deposition modeling (FDM) are popular. Thermoplastic polyurethane (TPU) filaments, with and without conductive fillers, are now commercially available. However, conventional FDM still has some limitations because of the marginal compatibility with soft materials. Material selection criteria for the available material options for FDM have not been established. In this study, an open-source soft robotic gripper design has been used to evaluate the FDM printing of TPU structures with integrated strain sensing elements in order to provide some guidelines for the material selection when an elastomer and a soft piezoresistive sensor are combined. Such soft grippers, with integrated strain sensing elements, were successfully printed using a multi-material FDM 3D printer. Characterization of the integrated piezoresistive sensor function, using dynamic tensile testing, revealed that the sensors exhibited good linearity up to 30% strain, which was sufficient for the deformation range of the selected gripper structure. Grippers produced using four different TPU materials were used to investigate the effect of the Shore hardness of the TPU on the piezoresistive sensor properties. The results indicated that the
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Registered trials
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