Electrical Resistance Response to Strain in 3D-Printed Conductive Thermoplastic Polyurethane (TPU)

Abstract

Additive manufacturing (AM) offers new possibilities in soft robotics as materials can easily be combined in multi-material designs. Proper sensing is essential for the soft actuators to interact with the surroundings successfully. By fabricating sensors through AM, sensors can be embedded directly into the components during manufacturing. This paper investigates NinjaTek Eels electrical resistance response to strain and the feasibility of using the material to create strain sensors. Strain sensors were 3D-printed out of NinjaTek Eel, a soft conductive TPU, and was tested during cyclic loading. A custom resistance–strain test rig was developed for measuring sensor behavior. The rig was calibrated for electric resistance, able to measure electric resistance as a function of strain. A parabolic response curve was observed during cyclic loading, which led to ambiguous readings. A 10-specimen validation test was conducted, evaluating the statistical variation for the first 100 loading cycles. The validation test showed that the sensor is capable of accurate and predictable readings during single load cases and cyclic loading, with the overall root mean square error being 66.9 Ω. Combining two sensors of different cross-sections gave promising results in terms of calibrating. By monitoring load cycles and strain rates, calibration can also be achieved by machine learning models by the microcontroller used to extract data. The presented work in this article explores the potential of using conductive TPUs as sensors embedded in products such as soft robotics, life monitoring of products with structural, and digital twins for live product to user feedback.

Keywords

• flexible and stretchable sensors
• printable sensors
• additive manufacturing
• soft robotics sensors