{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T08:57:47Z","timestamp":1771491467989,"version":"3.50.1"},"reference-count":206,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2022,3,17]],"date-time":"2022-03-17T00:00:00Z","timestamp":1647475200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This review aims to discuss the inkjet printing technique as a fabrication method for the development of large-area tactile sensors. The paper focuses on the manufacturing techniques and various system-level sensor design aspects related to the inkjet manufacturing processes. The goal is to assess how printed electronics simplify the fabrication process of tactile sensors with respect to conventional fabrication methods and how these contribute to overcoming the difficulties arising in the development of tactile sensors for real robot applications. To this aim, a comparative analysis among different inkjet printing technologies and processes is performed, including a quantitative analysis of the design parameters, such as the costs, processing times, sensor layout, and general system-level constraints. The goal of the survey is to provide a complete map of the state of the art of inkjet printing, focusing on the most effective topics for the implementation of large-area tactile sensors and a view of the most relevant open problems that should be addressed to improve the effectiveness of these processes.<\/jats:p>","DOI":"10.3390\/s22062332","type":"journal-article","created":{"date-parts":[[2022,3,20]],"date-time":"2022-03-20T21:37:17Z","timestamp":1647812237000},"page":"2332","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["An Atlas for the Inkjet Printing of Large-Area Tactile Sensors"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7299-1665","authenticated-orcid":false,"given":"Giulia","family":"Baldini","sequence":"first","affiliation":[{"name":"Mechatronics and Automatic Control Laboratory, University of Genoa, 16145 Genova, Italy"}]},{"given":"Alessandro","family":"Albini","sequence":"additional","affiliation":[{"name":"Oxford Robotics Institute, Oxford OX2 6NN, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7588-9567","authenticated-orcid":false,"given":"Perla","family":"Maiolino","sequence":"additional","affiliation":[{"name":"Oxford Robotics Institute, Oxford OX2 6NN, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7932-5411","authenticated-orcid":false,"given":"Giorgio","family":"Cannata","sequence":"additional","affiliation":[{"name":"Mechatronics and Automatic Control Laboratory, University of Genoa, 16145 Genova, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Zou, L., Ge, C., Wang, Z.J., Cretu, E., and Li, X. (2017). Novel tactile sensor technology and smart tactile-sensing systems: A review. Sensors, 17.","DOI":"10.3390\/s17112653"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"10291","DOI":"10.1109\/JSEN.2021.3061677","article-title":"Recent applications of different microstructure designs in high performance tactile sensors: A Review","volume":"21","author":"Sun","year":"2021","journal-title":"IEEE Sens. J."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1080\/14686996.2020.1862629","article-title":"Flexible wearable sensors-an update in view of touch-sensing","volume":"22","author":"Vu","year":"2021","journal-title":"Sci. Technol. Adv. Mater."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1016\/j.sna.2012.02.051","article-title":"A review of tactile sensing technologies with applications in biomedical engineering","volume":"179","author":"Tiwana","year":"2012","journal-title":"Sens. Actuators A Phys."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Cannata, G., Maggiali, M., Metta, G., and Sandini, G. (2008, January 20\u201322). An embedded artificial skin for humanoid robots. Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Seoul, Korea.","DOI":"10.1109\/MFI.2008.4648033"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/S0957-4158(98)00045-2","article-title":"Review Article Tactile sensing for mechatronics\u2014A state of the art survey","volume":"9","author":"Lee","year":"1999","journal-title":"Mechatronics"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1543","DOI":"10.1016\/S0038-1101(03)00082-0","article-title":"All-polymer capacitor fabricated with inkjet printing technique","volume":"47","author":"Liu","year":"2003","journal-title":"Solid-State Electron."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"296","DOI":"10.1109\/TMECH.2002.802720","article-title":"Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II","volume":"7","author":"Kawasaki","year":"2002","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_9","unstructured":"Martin, T.B., Ambrose, R.O., Diftler, M.A., Platt, R., and Butzer, M. (May, January 26). Tactile gloves for autonomous grasping with the NASA\/DARPA Robonaut. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201904), New Orleans, LA, USA."},{"key":"ref_10","unstructured":"Carrozza, M.C., Dario, P., Vecchi, F., Roccella, S., Zecca, M., and Sebastiani, F. (2003, January 27\u201331). The CyberHand: On the design of a cybernetic prosthetic hand intended to be interfaced to the peripheral nervous system. Proceedings of the 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA."},{"key":"ref_11","unstructured":"Cannata, G., and Maggiali, M. (2005, January 5). An embedded tactile and force sensor for robotic manipulation and grasping. Proceedings of the 5th IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Ohmura, Y., and Kuniyoshi, Y. (November, January 29). Humanoid robot which can lift a 30kg box by whole body contact and tactile feedback. Proceedings of the 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA.","DOI":"10.1109\/IROS.2007.4399592"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Haddadin, S., Albu-Schaffer, A., De Luca, A., and Hirzinger, G. (2008, January 22\u201326). Collision detection and reaction: A contribution to safe physical human\u2013robot interaction. Proceedings of the 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Nice, France.","DOI":"10.1109\/IROS.2008.4650764"},{"key":"ref_14","unstructured":"De Luca, A., and Mattone, R. (2005, January 18\u201322). Sensorless robot collision detection and hybrid force\/motion control. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"De Luca, A., and Ferrajoli, L. (2008, January 22\u201326). Exploiting robot redundancy in collision detection and reaction. Proceedings of the 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Nice, France.","DOI":"10.1109\/IROS.2008.4651204"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Magrini, E., and De Luca, A. (2017, January 24\u201328). Human\u2013robot coexistence and contact handling with redundant robots. Proceedings of the 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada.","DOI":"10.1109\/IROS.2017.8206331"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Geravand, M., Flacco, F., and De Luca, A. (2013, January 6\u201310). Human\u2013robot physical interaction and collaboration using an industrial robot with a closed control architecture. Proceedings of the 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany.","DOI":"10.1109\/ICRA.2013.6631141"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Manuelli, L., and Tedrake, R. (2016, January 9\u201314). Localizing external contact using proprioceptive sensors: The contact particle filter. Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea.","DOI":"10.1109\/IROS.2016.7759743"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1016\/j.robot.2016.08.007","article-title":"Multi-contact haptic exploration and grasping with tactile sensors","volume":"85","author":"Sommer","year":"2016","journal-title":"Robot. Auton. Syst."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"103332","DOI":"10.1016\/j.robot.2019.103332","article-title":"Touch driven controller and tactile features for physical interactions","volume":"123","author":"Kappassov","year":"2020","journal-title":"Robot. Auton. Syst."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Li, Q., Sch\u00fcrmann, C., Haschke, R., and Ritter, H.J. (2013, January 24\u201328). A Control Framework for Tactile Servoing. Proceedings of the Robotics: Science and Systems, Berlin, Germany.","DOI":"10.15607\/RSS.2013.IX.045"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Del Prete, A., Nori, F., Metta, G., and Natale, L. (2012, January 7\u201312). Control of contact forces: The role of tactile feedback for contact localization. Proceedings of the 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Vilamoura-Algarve, Portugal.","DOI":"10.1109\/IROS.2012.6385803"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Calandra, R., Ivaldi, S., and Deisenroth, M.P. (2015, January 3\u20135). Learning torque control in presence of contacts using tactile sensing from robot skin. Proceedings of the 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, Korea.","DOI":"10.1109\/HUMANOIDS.2015.7363429"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"293","DOI":"10.1016\/j.robot.2014.09.011","article-title":"Towards the creation of tactile maps for robots and their use in robot contact motion control","volume":"63","author":"Denei","year":"2015","journal-title":"Robot. Auton. Syst."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"458","DOI":"10.1177\/0278364912471865","article-title":"Reaching in clutter with whole-arm tactile sensing","volume":"32","author":"Jain","year":"2013","journal-title":"Int. J. Robot. Res."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"537","DOI":"10.1007\/s10514-015-9492-6","article-title":"Model predictive control for fast reaching in clutter","volume":"40","author":"Killpack","year":"2016","journal-title":"Auton. Robot."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"330","DOI":"10.1109\/TRO.2018.2889261","article-title":"Tactile-based whole-body compliance with force propagation for mobile manipulators","volume":"35","author":"Leboutet","year":"2019","journal-title":"IEEE Trans. Robot."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"438","DOI":"10.1108\/SR-07-2017-0126","article-title":"Inkjet printing for the fabrication of flexible\/stretchable wearable electronic devices and sensors","volume":"38","author":"Qitouqa","year":"2018","journal-title":"Sens. Rev."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"673","DOI":"10.1002\/adma.200901141","article-title":"Inkjet printing\u2014Process and its applications","volume":"22","author":"Singh","year":"2010","journal-title":"Adv. Mater."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1109\/MIM.2011.6041380","article-title":"Inkjet-printed sensors: A useful approach for low cost, rapid prototyping [instrumentation notes]","volume":"14","author":"Ando","year":"2011","journal-title":"IEEE Instrum. Meas. Mag."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Salim, A., and Lim, S. (2017). Review of recent inkjet-printed capacitive tactile sensors. Sensors, 17.","DOI":"10.3390\/s17112593"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"1910","DOI":"10.1039\/c2tc00255h","article-title":"Inkjet printing of organic electronics\u2013comparison of deposition techniques and state-of-the-art developments","volume":"1","author":"Teichler","year":"2013","journal-title":"J. Mater. Chem. C"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"1117","DOI":"10.1007\/s00542-017-3342-8","article-title":"An overview of additive manufacturing (3D printing) for microfabrication","volume":"23","author":"Bhushan","year":"2017","journal-title":"Microsyst. Technol."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Li, Y., Torah, R., Beeby, S., and Tudor, J. (, January 28\u201331). An all-inkjet printed flexible capacitor on a textile using a new poly (4-vinylphenol) dielectric ink for wearable applications. Proceedings of the SENSORS, 2012 IEEE, Taipei, Taiwan.","DOI":"10.1109\/ICSENS.2012.6411117"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1622","DOI":"10.1039\/C3NR05479A","article-title":"Preparation of solid silver nanoparticles for inkjet printed flexible electronics with high conductivity","volume":"6","author":"Shen","year":"2014","journal-title":"Nanoscale"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"1375","DOI":"10.1007\/s12541-015-0181-3","article-title":"Combined 3D printing technologies and material for fabrication of tactile sensors","volume":"16","author":"Vatani","year":"2015","journal-title":"Int. J. Precis. Eng. Manuf."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"491","DOI":"10.1038\/nprot.2009.234","article-title":"Soft lithography for micro-and nanoscale patterning","volume":"5","author":"Qin","year":"2010","journal-title":"Nat. Protoc."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"4888","DOI":"10.1039\/c0cp01755h","article-title":"Inkjet-printed gold nanoparticle electrochemical arrays on plastic. Application to immunodetection of a cancer biomarker protein","volume":"13","author":"Jensen","year":"2011","journal-title":"Phys. Chem. Chem. Phys."},{"key":"ref_39","doi-asserted-by":"crossref","unstructured":"Kawahara, Y., Hodges, S., Cook, B.S., Zhang, C., and Abowd, G.D. (2013, January 8). Instant inkjet circuits: Lab-based inkjet Printing to support rapid prototyping of UbiComp devices. Proceedings of the 2013 ACM International Joint Conference on Pervasive and Ubiquitous Computing, Zurich, Switzerland.","DOI":"10.1145\/2493432.2493486"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"315","DOI":"10.1002\/marc.200400445","article-title":"A low curing temperature silver ink for use in ink-jet printing and subsequent production of conductive tracks","volume":"26","author":"Dearden","year":"2005","journal-title":"Macromol. Rapid Commun."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"429","DOI":"10.1021\/la802182y","article-title":"Ink-Jet printing of Cu- Ag-based highly conductive tracks on a transparent substrate","volume":"25","author":"Woo","year":"2009","journal-title":"Langmuir"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"J30","DOI":"10.1149\/1.2073670","article-title":"Highly conductive ink jet printed films of nanosilver particles for printable electronics","volume":"8","author":"Kim","year":"2005","journal-title":"Electrochem. Solid State Lett."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"5913","DOI":"10.1016\/j.tsf.2009.04.049","article-title":"Conductive silver patterns via ethylene glycol vapor reduction of ink-jet printed silver nitrate tracks on a polyimide substrate","volume":"20","author":"Wu","year":"2009","journal-title":"Thin Solid Films"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"3383","DOI":"10.1007\/s11434-010-3251-y","article-title":"Inkjet printing for flexible electronics: Materials, processes and equipments","volume":"55","author":"Yin","year":"2010","journal-title":"Chin. Sci. Bull."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"2123","DOI":"10.1126\/science.290.5499.2123","article-title":"High-resolution inkjet printing of all-polymer transistor circuits","volume":"290","author":"Sirringhaus","year":"2000","journal-title":"Science"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"628","DOI":"10.1117\/12.541711","article-title":"Maskless lithography using drop-on-demand inkjet printing method","volume":"Volume 5374","author":"Wang","year":"2004","journal-title":"Emerging Lithographic Technologies VIII"},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"2208","DOI":"10.1021\/cm021804b","article-title":"Silver nanoparticles as pigments for water-based ink-jet inks","volume":"15","author":"Magdassi","year":"2003","journal-title":"Chem. Mater."},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"2436","DOI":"10.1088\/0957-4484\/16\/10\/074","article-title":"Inkjet printing of nanosized silver colloids","volume":"16","author":"Lee","year":"2005","journal-title":"Nanotechnology"},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"2101","DOI":"10.1002\/adma.200502422","article-title":"Ink-jet printing and microwave sintering of conductive silver tracks","volume":"18","author":"Perelaer","year":"2006","journal-title":"Adv. Mater."},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"5249","DOI":"10.1063\/1.1481985","article-title":"Patterned low temperature copper-rich deposits using inkjet printing","volume":"81","author":"Rozenberg","year":"2002","journal-title":"Appl. Phys. Lett."},{"key":"ref_51","doi-asserted-by":"crossref","unstructured":"Castrejon-Pita, J.R., Baxter, W., Morgan, J., Temple, S., Martin, G., and Hutchings, I.M. (2013). Future, opportunities and challenges of inkjet technologies. At. Sprays, 23.","DOI":"10.1615\/AtomizSpr.2013007653"},{"key":"ref_52","doi-asserted-by":"crossref","unstructured":"Kim, Y., and Oh, J.H. (2020). Recent Progress in Pressure Sensors for Wearable Electronics: From Design to Applications. Appl. Sci., 10.","DOI":"10.3390\/app10186403"},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"776","DOI":"10.1039\/C9BM01445D","article-title":"Recent innovations in artificial skin","volume":"8","author":"Low","year":"2020","journal-title":"Biomater. Sci."},{"key":"ref_54","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498900800301","article-title":"A survey of robot tactile sensing technology","volume":"8","author":"Nicholls","year":"1989","journal-title":"Int. J. Robot. Res."},{"key":"ref_55","doi-asserted-by":"crossref","first-page":"11878","DOI":"10.1039\/C8TC02946F","article-title":"Recent progress in flexible pressure sensor arrays: From design to applications","volume":"6","author":"Li","year":"2018","journal-title":"J. Mater. Chem. C"},{"key":"ref_56","doi-asserted-by":"crossref","first-page":"4121","DOI":"10.1109\/JSEN.2013.2279056","article-title":"Directions toward effective utilization of tactile skin: A review","volume":"13","author":"Dahiya","year":"2013","journal-title":"IEEE Sens. J."},{"key":"ref_57","doi-asserted-by":"crossref","first-page":"4361","DOI":"10.1109\/LRA.2021.3068110","article-title":"Exploiting Distributed Tactile Sensors to Drive a Robot Arm Through Obstacles","volume":"6","author":"Albini","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_58","doi-asserted-by":"crossref","unstructured":"Albini, A., Denei, S., and Cannata, G. (2017, January 24\u201328). Human hand recognition from robotic skin measurements in human\u2013robot physical interactions. Proceedings of the 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada.","DOI":"10.1109\/IROS.2017.8206300"},{"key":"ref_59","doi-asserted-by":"crossref","unstructured":"Bhattacharjee, T., Rehg, J.M., and Kemp, C.C. (2012, January 7\u201312). Haptic classification and recognition of objects using a tactile sensing forearm. Proceedings of the 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Vilamoura-Algarve, Portugal.","DOI":"10.1109\/IROS.2012.6386142"},{"key":"ref_60","doi-asserted-by":"crossref","unstructured":"Dahiya, R.S., and Valle, M. (2012). Robotic Tactile Sensing: Technologies and System, Springer Science & Business Media.","DOI":"10.1007\/978-94-007-0579-1"},{"key":"ref_61","doi-asserted-by":"crossref","first-page":"2100280","DOI":"10.1002\/admt.202100280","article-title":"Direct Fabrication of VIA Interconnects by Electrohydrodynamic Printing for Multi-Layer 3D Flexible and Stretchable Electronics","volume":"6","author":"Ren","year":"2021","journal-title":"Adv. Mater. Technol."},{"key":"ref_62","doi-asserted-by":"crossref","unstructured":"Cao, Z., Yuan, Y., He, G., Peterson, R., and Najafi, K. (2013, January 16\u201320). Fabrication of multi-layer vertically stacked fused silica microsystems. Proceedings of the 2013 Transducers & Eurosensors XXVII, The 17th International Conference on Solid-State Sensors, Actuators and Microsystems (TRANSDUCERS & EUROSENSORS XXVII), Barcelona, Spain.","DOI":"10.1109\/Transducers.2013.6626890"},{"key":"ref_63","doi-asserted-by":"crossref","first-page":"206","DOI":"10.1109\/22.216458","article-title":"Modeling and analysis of vias in multilayered integrated circuits","volume":"41","author":"Gu","year":"1993","journal-title":"IEEE Trans. Microw. Theory Tech."},{"key":"ref_64","doi-asserted-by":"crossref","first-page":"389","DOI":"10.1109\/TRO.2011.2132930","article-title":"Methods and technologies for the implementation of large-scale robot tactile sensors","volume":"27","author":"Schmitz","year":"2011","journal-title":"IEEE Trans. Robot."},{"key":"ref_65","unstructured":"Cannata, G., Dahiya, R.S., Maggiali, M., Mastrogiovanni, F., Metta, G., and Valle, M. (2010, January 27\u201328). Modular skin for humanoid robot systems. Proceedings of the 4th International Conference on Cognitive Systems, Zurich, Switzerland."},{"key":"ref_66","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1109\/TRO.2011.2106330","article-title":"Humanoid multimodal tactile-sensing modules","volume":"27","author":"Mittendorfer","year":"2011","journal-title":"IEEE Trans. Robot."},{"key":"ref_67","doi-asserted-by":"crossref","first-page":"505","DOI":"10.1109\/TRO.2008.917006","article-title":"Development of the tactile sensor system of a human-interactive robot \u201cRI-MAN\u201d","volume":"24","author":"Mukai","year":"2008","journal-title":"IEEE Trans. Robot."},{"key":"ref_68","doi-asserted-by":"crossref","first-page":"013003","DOI":"10.1088\/2058-8585\/aa5ab2","article-title":"Printable stretchable interconnects","volume":"2","author":"Dang","year":"2017","journal-title":"Flex. Print. Electron."},{"key":"ref_69","doi-asserted-by":"crossref","first-page":"2200","DOI":"10.1109\/TCSI.2016.2615108","article-title":"Device modelling for bendable piezoelectric FET-based touch sensing system","volume":"63","author":"Gupta","year":"2016","journal-title":"IEEE Trans. Circuits Syst. I Regul. Pap."},{"key":"ref_70","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1109\/JPROC.2018.2890729","article-title":"E-skin: From humanoids to humans [point of view]","volume":"107","author":"Dahiya","year":"2019","journal-title":"Proc. IEEE"},{"key":"ref_71","doi-asserted-by":"crossref","first-page":"1087","DOI":"10.1109\/TASE.2013.2252617","article-title":"On the problem of the automated design of large-scale robot skin","volume":"10","author":"Anghinolfi","year":"2013","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_72","doi-asserted-by":"crossref","first-page":"372","DOI":"10.1109\/TASE.2014.2331692","article-title":"An improved algorithm for the automated design of large-scaled robot skin","volume":"12","author":"Wei","year":"2014","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_73","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1007\/s11370-018-0265-x","article-title":"The robot skin placement problem: A new technique to place triangular modules inside polygons","volume":"12","author":"Mastrogiovanni","year":"2019","journal-title":"Intell. Serv. Robot."},{"key":"ref_74","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1016\/S0004-3702(96)00051-3","article-title":"Map learning with uninterpreted sensors and effectors","volume":"92","author":"Pierce","year":"1997","journal-title":"Artif. Intell."},{"key":"ref_75","doi-asserted-by":"crossref","unstructured":"Kuniyoshi, Y., Yorozu, Y., Ohmura, Y., Terada, K., Otani, T., Nagakubo, A., and Yamamoto, T. (2004). From humanoid embodiment to theory of mind. Embodied Artificial Intelligence, Springer.","DOI":"10.1007\/978-3-540-27833-7_15"},{"key":"ref_76","unstructured":"Noda, T., Miyashita, T., Ishiguro, H., and Hagita, N. (2012). Super-flexible skin sensors embedded on the whole body self-organizing based on haptic interactions. Human-Robot Interaction in Social Robotics, CRC Press, Inc."},{"key":"ref_77","doi-asserted-by":"crossref","unstructured":"Modayil, J. (2010, January 18\u201321). Discovering sensor space: Constructing spatial embeddings that explain sensor correlations. Proceedings of the 2010 IEEE 9th International Conference on Development and Learning, Ann Arbor, MI, USA.","DOI":"10.1109\/DEVLRN.2010.5578854"},{"key":"ref_78","doi-asserted-by":"crossref","unstructured":"Cannata, G., Denei, S., and Mastrogiovanni, F. (2010, January 3\u20137). Towards automated self-calibration of robot skin. Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA.","DOI":"10.1109\/ROBOT.2010.5509370"},{"key":"ref_79","doi-asserted-by":"crossref","unstructured":"Del Prete, A., Denei, S., Natale, L., Mastrogiovanni, F., Nori, F., Cannata, G., and Metta, G. (2011, January 25\u201330). Skin spatial calibration using force\/torque measurements. Proceedings of the 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.","DOI":"10.1109\/IROS.2011.6094896"},{"key":"ref_80","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2009.2033627","article-title":"Tactile sensing\u2014From humans to humanoids","volume":"26","author":"Dahiya","year":"2009","journal-title":"IEEE Trans. Robot."},{"key":"ref_81","doi-asserted-by":"crossref","first-page":"2016","DOI":"10.1109\/JPROC.2019.2941366","article-title":"Large-area soft e-skin: The challenges beyond sensor designs","volume":"107","author":"Dahiya","year":"2019","journal-title":"Proc. IEEE"},{"key":"ref_82","first-page":"113752A","article-title":"3D-printed and wireless piezoelectric tactile sensors","volume":"Volume 11375","author":"Deng","year":"2020","journal-title":"Electroactive Polymer Actuators and Devices (EAPAD) XXII"},{"key":"ref_83","first-page":"101405","article-title":"Hybrid (3D and inkjet) printed electromagnetic pressure sensor using metamaterial absorber","volume":"35","author":"Jeong","year":"2020","journal-title":"Addit. Manuf."},{"key":"ref_84","unstructured":"Wasserfall, F. (2018, January 13\u201315). Topology-Aware Routing of Electric Wires in FDM-Printed Objects. Proceedings of the 29th International Solid Freeform Fabrication Symposium, Austin, TX, USA."},{"key":"ref_85","doi-asserted-by":"crossref","unstructured":"Liu, C., Huang, N., Xu, F., Tong, J., Chen, Z., Gui, X., Fu, Y., and Lao, C. (2018). 3D printing technologies for flexible tactile sensors toward wearable electronics and electronic skin. Polymers, 10.","DOI":"10.3390\/polym10060629"},{"key":"ref_86","doi-asserted-by":"crossref","unstructured":"Senthil Kumar, K., Chen, P.Y., and Ren, H. (2019). A review of printable flexible and stretchable tactile sensors. Research, 2019.","DOI":"10.34133\/2019\/3018568"},{"key":"ref_87","doi-asserted-by":"crossref","first-page":"927","DOI":"10.1007\/s00542-014-2092-0","article-title":"Silicon cantilevers with piezo-resistive measuring bridge for tactile line measurement","volume":"20","author":"Frank","year":"2014","journal-title":"Microsyst. Technol."},{"key":"ref_88","doi-asserted-by":"crossref","first-page":"1935","DOI":"10.1002\/adma.201004692","article-title":"Paper electronics","volume":"23","year":"2011","journal-title":"Adv. Mater."},{"key":"ref_89","doi-asserted-by":"crossref","first-page":"859","DOI":"10.1038\/nmat2834","article-title":"Highly sensitive flexible pressure sensors with microstructured rubber dielectric layers","volume":"9","author":"Mannsfeld","year":"2010","journal-title":"Nat. Mater."},{"key":"ref_90","doi-asserted-by":"crossref","first-page":"2884","DOI":"10.1002\/adfm.201500801","article-title":"Flexible and controllable piezo-phototronic pressure mapping sensor matrix by ZnO NW\/p-polymer LED array","volume":"25","author":"Bao","year":"2015","journal-title":"Adv. Funct. Mater."},{"key":"ref_91","doi-asserted-by":"crossref","first-page":"1081","DOI":"10.1117\/1.602154","article-title":"Optical roughness measurements using extended white-light interferometry","volume":"38","author":"Windecker","year":"1999","journal-title":"Opt. Eng."},{"key":"ref_92","doi-asserted-by":"crossref","first-page":"646","DOI":"10.1109\/TMECH.2011.2116033","article-title":"Miniature 3-axis distal force sensor for minimally invasive surgical palpation","volume":"17","author":"Puangmali","year":"2011","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_93","doi-asserted-by":"crossref","unstructured":"Konstantinova, J., Stilli, A., and Althoefer, K. (October, January 28). Force and proximity fingertip sensor to enhance grasping perception. Proceedings of the 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany.","DOI":"10.1109\/IROS.2015.7353659"},{"key":"ref_94","doi-asserted-by":"crossref","unstructured":"Noh, Y., Sareh, S., Back, J., W\u00fcrdemann, H.A., Ranzani, T., Secco, E.L., Faragasso, A., Liu, H., and Althoefer, K. (June, January 31). A three-axial body force sensor for flexible manipulators. Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China.","DOI":"10.1109\/ICRA.2014.6907802"},{"key":"ref_95","doi-asserted-by":"crossref","first-page":"1291","DOI":"10.1016\/j.tsf.2011.04.188","article-title":"Inkjet printing of transparent, flexible, organic transistors","volume":"520","author":"Cosseddu","year":"2011","journal-title":"Thin Solid Films"},{"key":"ref_96","doi-asserted-by":"crossref","first-page":"46739","DOI":"10.1038\/srep46739","article-title":"Stretchable Ag electrodes with mechanically tunable optical transmittance on wavy-patterned PDMS substrates","volume":"7","author":"Ko","year":"2017","journal-title":"Sci. Rep."},{"key":"ref_97","doi-asserted-by":"crossref","first-page":"115015","DOI":"10.1088\/0960-1317\/24\/11\/115015","article-title":"Simple and cost-effective fabrication of solid biodegradable polymer microneedle arrays with adjustable aspect ratio for transdermal drug delivery using acupuncture microneedles","volume":"24","author":"Cha","year":"2014","journal-title":"J. Micromech. Microeng."},{"key":"ref_98","doi-asserted-by":"crossref","first-page":"690","DOI":"10.1039\/C4LC01121J","article-title":"Inkjet-printed microelectrodes on PDMS as biosensors for functionalized microfluidic systems","volume":"15","author":"Wu","year":"2015","journal-title":"Lab Chip"},{"key":"ref_99","doi-asserted-by":"crossref","first-page":"3208","DOI":"10.1039\/D0GC00658K","article-title":"Transparent, flexible and recyclable nanopaper-based touch sensors fabricated via inkjet-printing","volume":"22","author":"Ling","year":"2020","journal-title":"Green Chem."},{"key":"ref_100","doi-asserted-by":"crossref","first-page":"21628","DOI":"10.1021\/acsami.5b04717","article-title":"Fabrication of novel transparent touch sensing device via drop-on-demand inkjet printing technique","volume":"7","author":"Ma","year":"2015","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_101","doi-asserted-by":"crossref","first-page":"336","DOI":"10.1016\/j.sna.2019.06.017","article-title":"Piezoresistive thin film pressure sensor based on carbon nanotube-polyimide nanocomposites","volume":"295","author":"Li","year":"2019","journal-title":"Sens. Actuators A Phys."},{"key":"ref_102","doi-asserted-by":"crossref","first-page":"6307","DOI":"10.1002\/adma.201400334","article-title":"Embedded 3D printing of strain sensors within highly stretchable elastomers","volume":"26","author":"Muth","year":"2014","journal-title":"Adv. Mater."},{"key":"ref_103","doi-asserted-by":"crossref","first-page":"39560","DOI":"10.1021\/acsami.9b13684","article-title":"Highly stretchable, directionally oriented carbon nanotube\/PDMS conductive films with enhanced sensitivity as wearable strain sensors","volume":"11","author":"Tas","year":"2019","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_104","doi-asserted-by":"crossref","first-page":"107697","DOI":"10.1016\/j.compscitech.2019.107697","article-title":"Effect of graphene nanoplatelets thickness on strain sensitivity of nanocomposites: A deeper theoretical to experimental analysis","volume":"181","author":"Moriche","year":"2019","journal-title":"Compos. Sci. Technol."},{"key":"ref_105","doi-asserted-by":"crossref","first-page":"106044","DOI":"10.1016\/j.orgel.2020.106044","article-title":"Flexible pressure sensor with high sensitivity and fast response for electronic skin using near-field electrohydrodynamic direct writing","volume":"89","author":"Dong","year":"2021","journal-title":"Org. Electron."},{"key":"ref_106","doi-asserted-by":"crossref","first-page":"1906683","DOI":"10.1002\/adfm.201906683","article-title":"All-Printed Flexible and Stretchable Electronics with Pressing or Freezing Activatable Liquid-Metal\u2013Silicone Inks","volume":"30","author":"Zhou","year":"2020","journal-title":"Adv. Funct. Mater."},{"key":"ref_107","doi-asserted-by":"crossref","unstructured":"Srichan, C., Saikrajang, T., Lomas, T., Jomphoak, A., Maturos, T., Phokaratkul, D., Kerdcharoen, T., and Tuantranont, A. (2009, January 6\u20139). Inkjet printing PEDOT: PSS using desktop inkjet printer. Proceedings of the 2009 6th International Conference on Electrical Engineering\/Electronics, Computer, Telecommunications and Information Technology, Chonburi, Thailand.","DOI":"10.1109\/ECTICON.2009.5137049"},{"key":"ref_108","doi-asserted-by":"crossref","unstructured":"Al-Chami, H., and Cretu, E. (2009, January 10\u201312). Inkjet printing of microsensors. Proceedings of the 2009 IEEE 15th International Mixed-Signals, Sensors, and Systems Test Workshop, Scottsdale, AZ, USA.","DOI":"10.1109\/IMS3TW.2009.5158692"},{"key":"ref_109","doi-asserted-by":"crossref","first-page":"1121","DOI":"10.1002\/jbm.a.36314","article-title":"Printing inks of electroactive polymer PEDOT: PSS: The study of biocompatibility, stability, and electrical properties","volume":"106","author":"Hrabal","year":"2018","journal-title":"J. Biomed. Mater. Res. Part A"},{"key":"ref_110","doi-asserted-by":"crossref","first-page":"1500017","DOI":"10.1002\/aelm.201500017","article-title":"Effective approaches to improve the electrical conductivity of PEDOT: PSS: A review","volume":"1","author":"Shi","year":"2015","journal-title":"Adv. Electron. Mater."},{"key":"ref_111","doi-asserted-by":"crossref","first-page":"425","DOI":"10.1016\/j.snb.2016.01.142","article-title":"Towards inkjet printable conducting polymer artificial muscles","volume":"229","author":"Simaite","year":"2016","journal-title":"Sens. Actuators B Chem."},{"key":"ref_112","doi-asserted-by":"crossref","first-page":"1021","DOI":"10.1002\/smll.200600061","article-title":"Inkjet printing of electrically conductive patterns of carbon nanotubes","volume":"2","author":"Mustonen","year":"2006","journal-title":"Small"},{"key":"ref_113","doi-asserted-by":"crossref","first-page":"1234","DOI":"10.1109\/LAWP.2012.2223751","article-title":"based inkjet-printed tri-band U-slot monopole antenna for wireless applications","volume":"11","author":"Abutarboush","year":"2012","journal-title":"IEEE Antennas Wirel. Propag. Lett."},{"key":"ref_114","doi-asserted-by":"crossref","first-page":"4148","DOI":"10.1109\/TAP.2012.2207079","article-title":"Inkjet printing of novel wideband and high gain antennas on low-cost paper substrate","volume":"60","author":"Cook","year":"2012","journal-title":"IEEE Trans. Antennas Propag."},{"key":"ref_115","doi-asserted-by":"crossref","first-page":"19494","DOI":"10.1021\/am506102w","article-title":"Electroless copper plating of inkjet-printed polydopamine nanoparticles: A facile method to fabricate highly conductive patterns at near room temperature","volume":"6","author":"Ma","year":"2014","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_116","doi-asserted-by":"crossref","first-page":"281","DOI":"10.1002\/marc.200400522","article-title":"Ink-jet printing of metallic nanoparticles and microemulsions","volume":"26","author":"Kamyshny","year":"2005","journal-title":"Macromol. Rapid Commun."},{"key":"ref_117","doi-asserted-by":"crossref","first-page":"113103","DOI":"10.1063\/1.4868633","article-title":"Inkjet-printed stretchable single-walled carbon nanotube electrodes with excellent mechanical properties","volume":"104","author":"Kim","year":"2014","journal-title":"Appl. Phys. Lett."},{"key":"ref_118","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1109\/84.982863","article-title":"Ink-jet printed nanoparticle microelectromechanical systems","volume":"11","author":"Fuller","year":"2002","journal-title":"J. Microelectromech. Syst."},{"key":"ref_119","doi-asserted-by":"crossref","first-page":"4773","DOI":"10.1002\/adma.201301040","article-title":"Flexible High-Performance All-Inkjet-Printed Inverters: Organo-Compatible and Stable Interface Engineering","volume":"25","author":"Chung","year":"2013","journal-title":"Adv. Mater."},{"key":"ref_120","doi-asserted-by":"crossref","first-page":"5732","DOI":"10.1021\/am301747p","article-title":"Highly sensitive antenna using inkjet overprinting with particle-free conductive inks","volume":"4","author":"Komoda","year":"2012","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_121","doi-asserted-by":"crossref","unstructured":"Olberding, S., Gong, N.W., Tiab, J., Paradiso, J.A., and Steimle, J. (2013, January 8\u201311). A cuttable multi-touch sensor. Proceedings of the 26th Annual ACM Symposium on User Interface Software and Technology, Scotland, UK.","DOI":"10.1145\/2501988.2502048"},{"key":"ref_122","doi-asserted-by":"crossref","first-page":"79820H","DOI":"10.1117\/12.880959","article-title":"Printed resistive strain sensors for monitoring of light-weight structures","volume":"Volume 7982","author":"Rausch","year":"2011","journal-title":"Smart Sensor Phenomena, Technology, Networks, and Systems 2011"},{"key":"ref_123","doi-asserted-by":"crossref","first-page":"343","DOI":"10.1002\/adma.200701876","article-title":"Inkjet printing of narrow conductive tracks on untreated polymeric substrates","volume":"20","author":"Perelaer","year":"2008","journal-title":"Adv. Mater."},{"key":"ref_124","doi-asserted-by":"crossref","first-page":"3820","DOI":"10.1016\/j.tsf.2006.10.009","article-title":"Direct-write inkjet printing for fabrication of barium strontium titanate-based tunable circuits","volume":"515","author":"Kaydanova","year":"2007","journal-title":"Thin Solid Films"},{"key":"ref_125","doi-asserted-by":"crossref","first-page":"360","DOI":"10.1108\/SR-07-2013-704","article-title":"Flexible biosensor using inkjet printing of silver nanoparticles","volume":"34","author":"Abadi","year":"2014","journal-title":"Sens. Rev."},{"key":"ref_126","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1016\/j.sna.2016.03.021","article-title":"Mechanical behavior of strain sensors based on PEDOT: PSS and silver nanoparticles inks deposited on polymer substrate by inkjet printing","volume":"243","author":"Borghetti","year":"2016","journal-title":"Sens. Actuators A Phys."},{"key":"ref_127","doi-asserted-by":"crossref","first-page":"153110","DOI":"10.1063\/1.3578398","article-title":"Inkjet-printed stretchable silver electrode on wave structured elastomeric substrate","volume":"98","author":"Chung","year":"2011","journal-title":"Appl. Phys. Lett."},{"key":"ref_128","doi-asserted-by":"crossref","first-page":"165303","DOI":"10.1088\/0957-4484\/20\/16\/165303","article-title":"One-step inkjet printing of conductive silver tracks on polymer substrates","volume":"20","author":"Perelaer","year":"2009","journal-title":"Nanotechnology"},{"key":"ref_129","doi-asserted-by":"crossref","unstructured":"And\u00f2, B., Baglio, S., Marletta, V., and Pistorio, A. (2014, January 12\u201315). A contactless inkjet printed passive touch sensor. Proceedings of the 2014 IEEE International Instrumentation and Measurement Technology Conference (I2MTC) Proceedings, Montevideo, Uruguay.","DOI":"10.1109\/I2MTC.2014.6861023"},{"key":"ref_130","doi-asserted-by":"crossref","first-page":"947","DOI":"10.1109\/JMEMS.2016.2593956","article-title":"Inkjet-printed electromagnet-based touchpad using spiral resonators","volume":"25","author":"Choi","year":"2016","journal-title":"J. Microelectromech. Syst."},{"key":"ref_131","doi-asserted-by":"crossref","first-page":"1411","DOI":"10.1109\/JDT.2016.2598847","article-title":"Based Capacitive Touchpad Using Home Inkjet Printer","volume":"12","author":"Yun","year":"2016","journal-title":"J. Disp. Technol."},{"key":"ref_132","doi-asserted-by":"crossref","first-page":"9840","DOI":"10.1109\/JSEN.2018.2871242","article-title":"Soft tactile sensors with inkjet-printing conductivity and hydrogel biocompatibility for retractors in cadaveric surgical trials","volume":"18","author":"Ponraj","year":"2018","journal-title":"IEEE Sens. J."},{"key":"ref_133","doi-asserted-by":"crossref","unstructured":"Sette, D., Mercier, D., Brunet-Manquat, P., Poulain, C., and Blayo, A. (2013, January 16\u201320). Micro Pirani pressure sensor fabricated by inkjet printing of silver nanoparticles. Proceedings of the 2013 Transducers & Eurosensors XXVII: The 17th International Conference on Solid-State Sensors, Actuators and Microsystems (TRANSDUCERS & EUROSENSORS XXVII), Barcelona, Spain.","DOI":"10.1109\/Transducers.2013.6627134"},{"key":"ref_134","doi-asserted-by":"crossref","unstructured":"Montero, K.L., Laurila, M.M., and M\u00e4ntysalo, M. (2020, January 15\u201318). All printed flexible piezoelectric pressure sensor with interdigitated electrodes. Proceedings of the 2020 IEEE 8th Electronics System-Integration Technology Conference (ESTC), Tonsberg, Norway.","DOI":"10.1109\/ESTC48849.2020.9229777"},{"key":"ref_135","doi-asserted-by":"crossref","unstructured":"Zhang, F., Tuck, C., Hague, R., He, Y., Saleh, E., Li, Y., Sturgess, C., and Wildman, R. (2016). Inkjet printing of polyimide insulators for the 3 D printing of dielectric materials for microelectronic applications. J. Appl. Polym. Sci., 133.","DOI":"10.1002\/app.43361"},{"key":"ref_136","doi-asserted-by":"crossref","unstructured":"Basak, I., Nowicki, G., Ruttens, B., Desta, D., Prooth, J., Jose, M., Nagels, S., Boyen, H.G., D\u2019Haen, J., and Buntinx, M. (2020). Inkjet Printing of PEDOT: PSS Based Conductive Patterns for 3D Forming Applications. Polymers, 12.","DOI":"10.3390\/polym12122915"},{"key":"ref_137","doi-asserted-by":"crossref","unstructured":"Albrecht, A., Trautmann, M., Becherer, M., Lugli, P., and Rivadeneyra, A. (2019). Shear-force sensors on flexible substrates using inkjet printing. J. Sens., 2019.","DOI":"10.1155\/2019\/1864239"},{"key":"ref_138","doi-asserted-by":"crossref","first-page":"185501","DOI":"10.1088\/1361-6528\/aaafa5","article-title":"3D printed stretchable capacitive sensors for highly sensitive tactile and electrochemical sensing","volume":"29","author":"Li","year":"2018","journal-title":"Nanotechnology"},{"key":"ref_139","doi-asserted-by":"crossref","first-page":"1900717","DOI":"10.1002\/admt.201900717","article-title":"Inkjet-printed soft resistive pressure sensor patch for wearable electronics applications","volume":"5","author":"Lo","year":"2020","journal-title":"Adv. Mater. Technol."},{"key":"ref_140","doi-asserted-by":"crossref","first-page":"26286","DOI":"10.1109\/JSEN.2021.3085128","article-title":"Inkjet-printed, nanofiber-based soft capacitive pressure sensors for tactile sensing","volume":"21","author":"Mikkonen","year":"2021","journal-title":"IEEE Sens. J."},{"key":"ref_141","doi-asserted-by":"crossref","first-page":"047005","DOI":"10.1117\/1.JBO.20.4.047005","article-title":"Fabricating optical lenses by inkjet printing and heat-assisted in situ curing of polydimethylsiloxane for smartphone microscopy","volume":"20","author":"Sung","year":"2015","journal-title":"J. Biomed. Opt."},{"key":"ref_142","doi-asserted-by":"crossref","first-page":"261904","DOI":"10.1063\/1.4990528","article-title":"The elastic microstructures of inkjet printed polydimethylsiloxane as the patterned dielectric layer for pressure sensors","volume":"110","author":"Peng","year":"2017","journal-title":"Appl. Phys. Lett."},{"key":"ref_143","doi-asserted-by":"crossref","unstructured":"R\u00f6ddiger, T., Beigl, M., Wolffram, D., Budde, M., and Sun, H. (2020, January 16\u201317). PDMSkin: On-Skin Gestures with Printable Ultra-Stretchable Soft Electronic Second Skin. Proceedings of the Augmented Humans International Conference, New York, NY, USA.","DOI":"10.1145\/3384657.3384789"},{"key":"ref_144","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1016\/j.sna.2006.04.036","article-title":"Fabrication of multilayer passive and active electric components on polymer using inkjet printing and low temperature laser processing","volume":"134","author":"Ko","year":"2007","journal-title":"Sens. Actuators A Phys."},{"key":"ref_145","doi-asserted-by":"crossref","first-page":"1134","DOI":"10.1109\/LED.2011.2156757","article-title":"All-inkjet-printed organic thin-film transistor inverter on flexible plastic substrate","volume":"32","author":"Chung","year":"2011","journal-title":"IEEE Electron Device Lett."},{"key":"ref_146","doi-asserted-by":"crossref","first-page":"1420","DOI":"10.1002\/adma.201503682","article-title":"Fabrication of transparent multilayer circuits by inkjet printing","volume":"28","author":"Jiang","year":"2016","journal-title":"Adv. Mater."},{"key":"ref_147","doi-asserted-by":"crossref","unstructured":"Sun, J., Jiang, J., Bao, B., Wang, S., He, M., Zhang, X., and Song, Y. (2016). Fabrication of bendable circuits on a polydimethylsiloxane (PDMS) surface by inkjet printing semi-wrapped structures. Materials, 9.","DOI":"10.3390\/ma9040253"},{"key":"ref_148","doi-asserted-by":"crossref","unstructured":"Albrecht, A., Bobinger, M., Salmer\u00f3n, J.F., Becherer, M., Cheng, G., Lugli, P., and Rivadeneyra, A. (2018). Over-stretching tolerant conductors on rubber films by inkjet-printing silver nanoparticles for wearables. Polymers, 10.","DOI":"10.3390\/polym10121413"},{"key":"ref_149","doi-asserted-by":"crossref","first-page":"17113","DOI":"10.1039\/C6NR05577J","article-title":"High-resolution electrohydrodynamic inkjet printing of stretchable metal oxide semiconductor transistors with high performance","volume":"8","author":"Kim","year":"2016","journal-title":"Nanoscale"},{"key":"ref_150","doi-asserted-by":"crossref","first-page":"405301","DOI":"10.1088\/0957-4484\/27\/40\/405301","article-title":"Laser direct writing and inkjet printing for a sub-2 \u03bcm channel length MoS2 transistor with high-resolution electrodes","volume":"27","author":"Kwon","year":"2016","journal-title":"Nanotechnology"},{"key":"ref_151","doi-asserted-by":"crossref","first-page":"11990","DOI":"10.1021\/acsami.9b19632","article-title":"Inkjet printable polydimethylsiloxane for all-inkjet-printed multilayered soft electrical applications","volume":"12","author":"Mikkonen","year":"2020","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_152","doi-asserted-by":"crossref","first-page":"4631","DOI":"10.1002\/adma.201301626","article-title":"Patterned Deposition of Metal-Organic Frameworks onto Plastic, Paper, and Textile Substrates by Inkjet Printing of a Precursor Solution","volume":"25","author":"Zhuang","year":"2013","journal-title":"Adv. Mater."},{"key":"ref_153","doi-asserted-by":"crossref","first-page":"364","DOI":"10.1038\/nature10313","article-title":"Inkjet printing of single-crystal films","volume":"475","author":"Minemawari","year":"2011","journal-title":"Nature"},{"key":"ref_154","doi-asserted-by":"crossref","first-page":"125022","DOI":"10.1088\/1361-665X\/aa9695","article-title":"Inkjet 3D printing of UV and thermal cure silicone elastomers for dielectric elastomer actuators","volume":"26","author":"McCoul","year":"2017","journal-title":"Smart Mater. Struct."},{"key":"ref_155","doi-asserted-by":"crossref","unstructured":"Abu-Khalaf, J.M., Al-Ghussain, L., and Al-Halhouli, A. (2018). Fabrication of stretchable circuits on polydimethylsiloxane (PDMS) pre-stretched substrates by inkjet printing silver nanoparticles. Materials, 11.","DOI":"10.3390\/ma11122377"},{"key":"ref_156","doi-asserted-by":"crossref","first-page":"3167","DOI":"10.1039\/C6TC05509E","article-title":"Switchable disposable passive RFID vapour sensors from inkjet printed electronic components integrated with PDMS as a stimulus responsive material","volume":"5","author":"Belsey","year":"2017","journal-title":"J. Mater. Chem. C"},{"key":"ref_157","doi-asserted-by":"crossref","first-page":"9864","DOI":"10.1016\/j.apsusc.2012.06.044","article-title":"Rapid, simple, and cost-effective treatments to achieve long-term hydrophilic PDMS surfaces","volume":"258","author":"Kreutzer","year":"2012","journal-title":"Appl. Surf. Sci."},{"key":"ref_158","doi-asserted-by":"crossref","first-page":"11868","DOI":"10.1021\/acsami.6b02844","article-title":"Adhesive stretchable printed conductive thin film patterns on PDMS surface with an atmospheric plasma treatment","volume":"8","author":"Li","year":"2016","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_159","doi-asserted-by":"crossref","first-page":"6586","DOI":"10.1021\/am401222p","article-title":"PDMS\/Kapton interface plasma treatment effects on the polymeric package for a wearable thermoelectric generator","volume":"5","author":"Francioso","year":"2013","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_160","doi-asserted-by":"crossref","unstructured":"Wu, J., Roberts, R., Tien, N.C., and Li, D. (2014, January 2\u20135). Inkjet printed silver patterning on PDMS to fabricate microelectrodes for microfluidic sensing. Proceedings of the SENSORS, 2014 IEEE, Valencia, Spain.","DOI":"10.1109\/ICSENS.2014.6985197"},{"key":"ref_161","doi-asserted-by":"crossref","first-page":"1749","DOI":"10.1007\/s00170-014-5634-9","article-title":"Selective surface modification of PET substrate for inkjet printing","volume":"71","author":"Yeo","year":"2014","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"ref_162","doi-asserted-by":"crossref","unstructured":"Mikkonen, R., and Mantysalo, M. (2020, January 16\u201319). Inkjettable, polydimethylsiloxane based soft electronics. Proceedings of the 2020 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS), Manchester, UK.","DOI":"10.1109\/FLEPS49123.2020.9239558"},{"key":"ref_163","doi-asserted-by":"crossref","first-page":"2971","DOI":"10.1039\/C7TC00038C","article-title":"Inkjet printing wearable electronic devices","volume":"5","author":"Gao","year":"2017","journal-title":"J. Mater. Chem. C"},{"key":"ref_164","doi-asserted-by":"crossref","first-page":"3343","DOI":"10.1002\/adma.201301184","article-title":"Matrix-assisted catalytic printing for the fabrication of multiscale, flexible, foldable, and stretchable metal conductors","volume":"25","author":"Guo","year":"2013","journal-title":"Adv. Mater."},{"key":"ref_165","doi-asserted-by":"crossref","unstructured":"Fu, Y.M., Chou, M.C., Cheng, Y.T., Secor, E.B., and Hersam, M.C. (2017, January 22\u201326). An inkjet printed piezoresistive back-to-back graphene tactile sensor for endosurgical palpation applications. Proceedings of the 2017 IEEE 30th International Conference on Micro Electro Mechanical Systems (MEMS), Las Vegas, NV, USA.","DOI":"10.1109\/MEMSYS.2017.7863482"},{"key":"ref_166","doi-asserted-by":"crossref","first-page":"27284","DOI":"10.1021\/acsami.1c04397","article-title":"Inkjet-Deposited Single-Wall Carbon Nanotube Micropatterns on Stretchable PDMS-Ag Substrate\u2013Electrode Structures for Piezoresistive Strain Sensing","volume":"13","author":"Ervasti","year":"2021","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_167","unstructured":"Kim, S., Traille, A., Lee, H., Aubert, H., Yoshihiro, K., Georgiadis, A., Collado, A., and Tentzeris, M.M. (2013, January 6\u201310). Inkjet-printed sensors on paper substrate for agricultural applications. Proceedings of the 2013 European Microwave Conference, Nuremberg, Germany."},{"key":"ref_168","doi-asserted-by":"crossref","first-page":"2894","DOI":"10.1109\/TMTT.2007.909886","article-title":"RFID tag and RF structures on a paper substrate using inkjet-printing technology","volume":"55","author":"Yang","year":"2007","journal-title":"IEEE Trans. Microw. Theory Tech."},{"key":"ref_169","doi-asserted-by":"crossref","first-page":"11505","DOI":"10.3390\/s120911505","article-title":"Recent advances in paper-based sensors","volume":"12","author":"Liana","year":"2012","journal-title":"Sensors"},{"key":"ref_170","doi-asserted-by":"crossref","first-page":"5474","DOI":"10.1021\/ac900660p","article-title":"Development of a bioactive paper sensor for detection of neurotoxins using piezoelectric inkjet printing of sol- gel-derived bioinks","volume":"81","author":"Hossain","year":"2009","journal-title":"Anal. Chem."},{"key":"ref_171","doi-asserted-by":"crossref","first-page":"2812","DOI":"10.1039\/C6EE00966B","article-title":"All-inkjet-printed, solid-state flexible supercapacitors on paper","volume":"9","author":"Choi","year":"2016","journal-title":"Energy Environ. Sci."},{"key":"ref_172","doi-asserted-by":"crossref","first-page":"1602790","DOI":"10.1002\/smll.201602790","article-title":"Flexible sensing electronics for wearable\/attachable health monitoring","volume":"13","author":"Wang","year":"2017","journal-title":"Small"},{"key":"ref_173","doi-asserted-by":"crossref","first-page":"24773","DOI":"10.1021\/acsami.6b07833","article-title":"Flexible and stretchable piezoelectric sensor with thickness-tunable configuration of electrospun nanofiber mat and elastomeric substrates","volume":"8","author":"Park","year":"2016","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_174","doi-asserted-by":"crossref","first-page":"4442","DOI":"10.1038\/s41598-018-22746-3","article-title":"Fully printed wearable vital sensor for human pulse rate monitoring using ferroelectric polymer","volume":"8","author":"Sekine","year":"2018","journal-title":"Sci. Rep."},{"key":"ref_175","doi-asserted-by":"crossref","first-page":"9963","DOI":"10.1039\/C7TC02558K","article-title":"All inkjet-printed piezoelectric electronic devices: Energy generators, sensors and actuators","volume":"5","author":"Thuau","year":"2017","journal-title":"J. Mater. Chem. C"},{"key":"ref_176","doi-asserted-by":"crossref","first-page":"1800703","DOI":"10.1002\/admt.201800703","article-title":"Fabrication of large-area bimodal sensors by all-inkjet-printing","volume":"4","author":"Fu","year":"2019","journal-title":"Adv. Mater. Technol."},{"key":"ref_177","doi-asserted-by":"crossref","first-page":"015016","DOI":"10.1088\/1361-665X\/ab548b","article-title":"Inkjet printed kirigami-inspired split ring resonator for disposable, low cost strain sensor applications","volume":"29","author":"Salim","year":"2019","journal-title":"Smart Mater. Struct."},{"key":"ref_178","doi-asserted-by":"crossref","unstructured":"Pang, G., Deng, J., Wang, F., Zhang, J., Pang, Z., and Yang, G. (2018). Development of flexible robot skin for safe and natural human\u2013robot collaboration. Micromachines, 9.","DOI":"10.3390\/mi9110576"},{"key":"ref_179","doi-asserted-by":"crossref","first-page":"7371","DOI":"10.1021\/acsami.7b17766","article-title":"Highly stretchable and wearable strain sensor based on printable carbon nanotube layers\/polydimethylsiloxane composites with adjustable sensitivity","volume":"10","author":"Wang","year":"2018","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_180","doi-asserted-by":"crossref","first-page":"eaba4294","DOI":"10.1126\/sciadv.aba4294","article-title":"Self-powered user-interactive electronic skin for programmable touch operation platform","volume":"6","author":"Zhao","year":"2020","journal-title":"Sci. Adv."},{"key":"ref_181","doi-asserted-by":"crossref","first-page":"2100091","DOI":"10.1002\/aisy.202100091","article-title":"Smart Tactile Gloves for Haptic Interaction, Communication, and Rehabilitation","volume":"4","author":"Ozioko","year":"2021","journal-title":"Adv. Intell. Syst."},{"key":"ref_182","doi-asserted-by":"crossref","first-page":"112946","DOI":"10.1016\/j.bios.2020.112946","article-title":"Wearable sensors: At the frontier of personalised health monitoring, smart prosthetics and assistive technologies","volume":"176","author":"Khoshmanesh","year":"2021","journal-title":"Biosens. Bioelectron."},{"key":"ref_183","doi-asserted-by":"crossref","first-page":"1004","DOI":"10.1002\/adfm.201503316","article-title":"Inkjet-printed flexible gold electrode arrays for bioelectronic interfaces","volume":"26","author":"Khan","year":"2016","journal-title":"Adv. Funct. Mater."},{"key":"ref_184","doi-asserted-by":"crossref","first-page":"6208","DOI":"10.1021\/acsami.8b18231","article-title":"Inkjet printing of reactive silver ink on textiles","volume":"11","author":"Shahariar","year":"2019","journal-title":"ACS Appl. Mater. Interfaces"},{"key":"ref_185","doi-asserted-by":"crossref","first-page":"6103","DOI":"10.1007\/s10570-020-03215-5","article-title":"Textile sensors for wearable applications: A comprehensive review","volume":"27","author":"Islam","year":"2020","journal-title":"Cellulose"},{"key":"ref_186","doi-asserted-by":"crossref","first-page":"330","DOI":"10.1557\/s43577-021-00079-3","article-title":"Three-dimensional printing of tactile sensors for soft robotics","volume":"46","author":"Zhou","year":"2021","journal-title":"MRS Bull."},{"key":"ref_187","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1080\/14686996.2018.1431862","article-title":"3D printing for soft robotics\u2013a review","volume":"19","author":"Gul","year":"2018","journal-title":"Sci. Technol. Adv. Mater."},{"key":"ref_188","doi-asserted-by":"crossref","unstructured":"MacCurdy, R., Katzschmann, R., Kim, Y., and Rus, D. (2016, January 16\u201321). Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids. Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden.","DOI":"10.1109\/ICRA.2016.7487576"},{"key":"ref_189","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.mser.2017.02.001","article-title":"Recent advances in wearable tactile sensors: Materials, sensing mechanisms, and device performance","volume":"115","author":"Yang","year":"2017","journal-title":"Mater. Sci. Eng. R Rep."},{"key":"ref_190","doi-asserted-by":"crossref","first-page":"160","DOI":"10.1038\/s41928-018-0043-y","article-title":"Wearable sweat sensors","volume":"1","author":"Bariya","year":"2018","journal-title":"Nat. Electron."},{"key":"ref_191","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1039\/C8TB02862A","article-title":"Advanced electronic skin devices for healthcare applications","volume":"7","author":"Ma","year":"2019","journal-title":"J. Mater. Chem. B"},{"key":"ref_192","doi-asserted-by":"crossref","first-page":"1800628","DOI":"10.1002\/admt.201800628","article-title":"Multifunctional skin-inspired flexible sensor systems for wearable electronics","volume":"4","author":"Xu","year":"2019","journal-title":"Adv. Mater. Technol."},{"key":"ref_193","doi-asserted-by":"crossref","first-page":"2100428","DOI":"10.1002\/admt.202100428","article-title":"All Paper-Based, Multilayered, Inkjet-Printed Tactile Sensor in Wide Pressure Detection Range with High Sensitivity","volume":"7","author":"Lee","year":"2021","journal-title":"Adv. Mater. Technol."},{"key":"ref_194","doi-asserted-by":"crossref","unstructured":"Majewski, C., Perkins, A., Faltz, D., Zhang, F., Zhao, H., and Xiao, W. (2017, January 11\u201315). Design of a 3D printed insole with embedded plantar pressure sensor arrays. Proceedings of the 2017 ACM International Joint Conference on Pervasive and Ubiquitous Computing and Proceedings of the 2017 ACM International Symposium on Wearable Computers, New York, NY, USA.","DOI":"10.1145\/3123024.3123179"},{"key":"ref_195","doi-asserted-by":"crossref","unstructured":"Hammond, F.L., Kramer, R.K., Wan, Q., Howe, R.D., and Wood, R.J. (2012, January 7\u201312). Soft tactile sensor arrays for micromanipulation. Proceedings of the 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Vilamoura-Algarve, Portugal.","DOI":"10.1109\/IROS.2012.6386224"},{"key":"ref_196","doi-asserted-by":"crossref","first-page":"2185","DOI":"10.1007\/s10439-015-1258-y","article-title":"A smart haptic hand-held device for neurosurgical microdissection","volume":"43","author":"Payne","year":"2015","journal-title":"Ann. Biomed. Eng."},{"key":"ref_197","doi-asserted-by":"crossref","first-page":"276","DOI":"10.1109\/TOH.2016.2616874","article-title":"The role of direct and visual force feedback in suturing using a 7-DOF dual-arm teleoperated system","volume":"10","author":"Talasaz","year":"2016","journal-title":"IEEE Trans. Haptics"},{"key":"ref_198","doi-asserted-by":"crossref","first-page":"2755","DOI":"10.1109\/TIE.2017.2739681","article-title":"A surgical palpation probe with 6-axis force\/torque sensing capability for minimally invasive surgery","volume":"65","author":"Kim","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_199","doi-asserted-by":"crossref","unstructured":"McKinley, S., Garg, A., Sen, S., Kapadia, R., Murali, A., Nichols, K., Lim, S., Patil, S., Abbeel, P., and Okamura, A.M. (2015, January 24\u201328). A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery. Proceedings of the 2015 IEEE International Conference on Automation Science and Engineering (CASE), Gothenburg, Sweden.","DOI":"10.1109\/CoASE.2015.7294253"},{"key":"ref_200","doi-asserted-by":"crossref","first-page":"1163","DOI":"10.1016\/S0957-4158(03)00048-5","article-title":"Tactile sensing technology for minimal access surgery\u2014A review","volume":"13","author":"Eltaib","year":"2003","journal-title":"Mechatronics"},{"key":"ref_201","doi-asserted-by":"crossref","unstructured":"Sherwani, F., Asad, M.M., and Ibrahim, B. (2020, January 26\u201327). Collaborative robots and industrial revolution 4.0 (ir 4.0). Proceedings of the 2020 International Conference on Emerging Trends in Smart Technologies (ICETST), Karachi, Pakistan.","DOI":"10.1109\/ICETST49965.2020.9080724"},{"key":"ref_202","doi-asserted-by":"crossref","unstructured":"Faller, L.M., Stetco, C., and Zangl, H. (2019, January 3\u20138). Design of a novel gripper system with 3D-and inkjet-printed multimodal sensors for automated grasping of a forestry robot. Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China.","DOI":"10.1109\/IROS40897.2019.8968134"},{"key":"ref_203","doi-asserted-by":"crossref","first-page":"1905279","DOI":"10.1002\/adma.201905279","article-title":"A new frontier of printed electronics: Flexible hybrid electronics","volume":"32","author":"Khan","year":"2020","journal-title":"Adv. Mater."},{"key":"ref_204","unstructured":"(2022, January 09). Molded Interconnected Devices (MIDs). Available online: https:\/\/www.cati.com\/3d-printing\/applications\/electronics-and-pcbs\/nonplaner-electronics\/mids\/."},{"key":"ref_205","doi-asserted-by":"crossref","first-page":"101960","DOI":"10.1016\/j.rcim.2020.101960","article-title":"Layer-by-layer generation of optimized joint trajectory for multi-axis robotized additive manufacturing of parts of revolution","volume":"65","author":"Chalvin","year":"2020","journal-title":"Robot. Comput.-Integr. Manuf."},{"key":"ref_206","unstructured":"Watson, N., Meisel, N.A., Bil\u00e9n, S., Duarte, J., and Nazarian, S. (2019, January 12\u201314). Large-scale additive manufacturing of concrete using a 6-axis robotic arm for autonomous habitat construction. Proceedings of the 2019 International Solid Freeform Fabrication Symposium, Austin, TX, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/6\/2332\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T22:38:24Z","timestamp":1760135904000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/6\/2332"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,3,17]]},"references-count":206,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2022,3]]}},"alternative-id":["s22062332"],"URL":"https:\/\/doi.org\/10.3390\/s22062332","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,3,17]]}}}