3D-Printed and Wireless Piezoelectric Tactile Sensors

Document Type

Conference Proceeding

Publication Date



The sense of touch, also known as tactile recognition, is crucial for modern robotics to explore and understand ambient environments. This study used a commercial inkjet printer to additively manufacture a flexible and passive tactile sensor consisting of a piezoelectric P(VDF-trFE) thin film sandwiched by a pair of electrodes. Consistent and reliable printing of piezoelectric thin films is achieved by investigating ink preparation procedures, printer settings, and substrate surface treatment. Post-processing procedures, including drying and curing, are studied to ensure thin film uniformity and functionality. Eventually, in-situ signal processing and wireless data transmission circuits are developed and validated. The printed piezoelectric tactile sensor can be potentially used for human health monitoring and soft robotics due to its high flexibility and biocompatibility.