3D Printed Phalanx Packaged with Embedded Pressure Sensor

Abstract

3D printing is widely used as the quickest way to transform design concept to the physical implementation. Recent advances in this field of additive manufacturing have allowed printing of several types of polymers, including soft material. While 3D printing allows easy way to develop complex 3D shapes, it does not allow these shapes to have sensory capability. However, in applications such as robotics and prosthetics, the 3D printed structures with sensory capability are much needed. This paper presents an innovative way to use 3D printing method to develop of complex shapes such as robotic finger with embedded capacitive touch sensors. The concept has been demonstrated by designing and printing the distal phalanx of finger with soft material. Embedding the touch sensors within the phalanx is advantageous in terms of robustness, aesthetics, water/ambient-proofing, reliability of the sensing layer as well as to overcome the traditional robotic skin issue of wiring complexity.