One-shot additive manufacturing of robotic finger with embedded sensing and actuation

Abstract A main challenge in the additive manufacturing (AM) field is possibility to create structures with embedded actuators and sensors: addressing this requirement would lead a reduction of manual assembly tasks product cost, pushing AM technologies into new dimension for fabrication assembly-free smart objects. The novelty present paper one shot 3D printed soft finger an shape memory alloy (SMA) actuator two different sensors (strain gauge capacitive force sensor). structures, fabricated proposed approach, can be immediately activated after their removal from build plate, providing real-time feedback because sensing units. Three materials nozzles were extruded fabricate passive elements units bioinspired robotic custom-made Cartesian pick place robot (CPPR) was employed integrate SMA spring during processes. Another direct integration printing process. low melting thermoplastic polycaprolactone (PCL) extruded: its temperature 70 °C lower than austenitic start temperature, preventing activation Two based on piezoresistive principle studied, characterized, showing respectively sensitivity ratio change resistance bending angle 674.8 $$\frac{\Omega }{^\circ \mathrm{Angle}}$$ Ω ∘ Angle capacitance $$0.53 \frac{\mathrm{pF}}{\mathrm{N}}$$ 0.53 pF N . approach paves way significant advancement provide feedback, offering several advantages, especially robotics domain.