A Review of Printable Flexible and Stretchable Tactile Sensors

Table 3

3D printing of tactile sensors with their fabricated materials and sensor features.


Year	Transduction principle	Feature	Measured constrain	Active material	Substrate material	Electrode/interconnects material	Sensitivity	Gauge factor	Measured range	Cyclic stability	Ref.

2019	Piezoresistive	Flexible	Strain	TPU/graphene	—	—	—	80	Up to 200%	6000 strain cycles	[236]
2019	Piezoresistive	Bidirectional	Strain	TPU/MWCNT	TPU	—	—	1.5-3	Up to 50%	20 cycles	[237]
2019	Piezoresistive	Stretchable	Strain	AgNP/MWCNT	Ecoflex 0030	Ag conductive paste	—	58.7	Max strain limit 74%	1000 strain cycles	[238]
2019	Piezoresistive	Fast response 171 ms, thickness 650 μm	Pressure	Graphene nanoplatelets/MWCNT/polyethylene oxide (PEO)	PDMS	Ag conductive paste	6.56 MPa^-1 for <65 kPa 0.335 kPa^-1 for 100 kPa	—	14–105 kPa	1000 pressure cycles	[239]
2019	Capacitive	Bimodal sensor	Bending strain, pressure	Ag conductive ink	Polyethylene Naphthalate (PEN), paper	—	—	3500	0.41–1.10% strain	4500 bending cycles	[35]
2019	Capacitive	Stretchable	Strain	Carbon black/Ecoflex	Barium titanate/Ecoflex	—	—	1.7 and 0.3	—	1000 stretching cycles	[181]

2018	Piezoresistive	High sensitivity	Bending strain, pressure	Polylactic acid-graphene (PLA-G) filament	Thermoplastic polyurethane filament (TPU)	—	—	~550	292 Pa–487 kPa 0.1–26.3 degrees	—	[130]
2018	Piezoresistive		Pressure	PVDF-HFP/PEDOT:PSS	PET	PEDOT:PSS	13.5/kPa	—	—	10000 strain cycles	[240]
2018	Piezoresistive	Meniscus-guided printing mechanism	Strain	MWCNT/polyvinylpyrrolidone (PVP)	Polyimide (PI), polymethyl methacrylate (PMMA)	Ag paste, copper wire	—	13.07 and 12.87	—	~1500 bending cycles	[149]
2018	Piezoresistive	Stretchable	Pressure	Thermoplastic polyurethane (TPU)/carbon black/NaCl	PDMS	Ag microflake/TPU composite	5.54 kPa⁻¹, 0.123 kPa⁻¹, 0.0048 kPa⁻¹	—	10 Pa to 800 kPa	10000 pressure cycles	[212]
2018	Piezoresistive	Flexible	Pressure	MWCNT/TangoPlus	TangoPlus	—	∼0.5 N	—	0–50 N	—	[241]
2018	Capacitive	Tactile perception	Force	Ag nanoparticle ink	PET	—	—	—	—	—	[213]
2018	Capacitive	Stretchable	Pressure	Ecoflex	PDMS	AgNW ink	10.6%/kPa	—	100 Pa–6 kPa	2000 stretching cycles	[82]
2018	Capacitive	Stretchable	Strain	CNT/PDMS	PDMS	AgNW solution	—	0.95–0.77	—	—	[191]
2018	Capacitive	Stretchable	Pressure	CNT/PDMS	PDMS	—	547.9 kPa⁻¹	—	0–110 Pa	500 pressure cycles	[242]
2018	Triboelectric	Flexible	Compressive load	Acrylonitrile butadiene styrene (ABS)	—	Ionic hydrogel, copper wire	—	—	—	3000 working cycle	[202]

2017	Piezoresistive	Bendable	Strain	Ag nanoparticle ink	VisiJet composite photopolymer	—	—	50	0-10% strain	—	[9]
2017	Piezoresistive	Flexible multiaxial force detection	Force	CNT/thermoplastic polyurethane nanocomposite filament	Thermoplastic polyurethane filament (TPU)	Ag paste	—	—	0-5 N	1000 bending cycles	[243]
2017	Piezoresistive	Flexible bimodal	Pressure	PEDOT:PSS/polyurethane dispersion (PUD)	PDMS	Ag nanoparticle	3 Pa	—	3 Pa to 5 kPa	100000 pressure cycles	[245]
2017	Piezoresistive	Stretchable	Pressure	Ag/silicone	Silicone ink, Dragon Skin 10	Ag/silicone	—	~180	—	100 pressing cycles	[231]
2017	Piezoresistive	Stretchable	Strain	NH₂-MWCNT/GO/SIS	Polystyrene-polyisoprene-polystyrene (SIS)	Cu wires, Ag epoxy	—	>70	—	—	[247]
2017	Piezoresistive	Stretchable	Strain	Ag nanoparticles	Poly(styrene-b-butadiene-b-styrene) SBS	—	—	—	—	300 stretching cycles	[248]
2017	Capacitive	Hybrid 3D printing	Strain, pressure	Ag flakes	Pure TPU	Ag flakes in thermoplastic polyurethane (TPU) ink	—	≈13.3	0–3 MPa	1000	[109]
2017	Capacitive	Flexible	Touch force	Ag nanoparticle ink	Glass, PET film	—	—	—	—	—	[235]
2017	Capacitive	Very high sensitivity	Pressure	n-Butyl acetate diluted PDMS	ITO-coated glass	—	10.4 kPa^-1	—	0-70 Pa	—	[198]
2017	Piezoelectric	Energy generation	Pressure	P(VDF–TrFE)	Polyethylene Naphthalate	Silver nanoparticle	—	—	—	—	[246]