Resistive pressure sensors through advanced pad printing techniques for integration in robotic gripper systems

Abstract In recent years, the application of fabric sensors has significantly increased due to their unique properties. This article presents a novel approach to designing and fabricating a textile-based pressure sensor specifically for robotic grippers, utilizing the pad printing technique. By incorporating inks infused with conductive nanoparticles, we enhance the conductivity of the printed designs on various fabrics. Key factors influencing the design and fabrication of this pressure sensor include the type of fabric, ink composition, and the number of print passes. The purpose of this study was to determine and stabilize the ideal fabrication parameters of the proposed sensor based on the targeting performance in the robotic gripper by experimentally examining the effective parameters. The performance of the fabricated sensors is assessed based on critical metrics such as sensitivity, linearity, repeatability, and fatigue resistance. The results indicate that sensors printed on sateen woven fabric, using five print passes and an ink ratio of 25% silver to 75% carbon, exhibited superior performance compared to other configurations. This research highlights the potential of textile-based sensors in enhancing the functionality of robotic grippers.