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Direct-Ink-Writing Multifunctional Flexible Robotic Electronic Skin.

Qiang He¹, Mon Myat Swe¹, Hailu Wang¹

¹School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore.

ACS Applied Materials & Interfaces

|December 17, 2025

Summary

Researchers developed a customizable robotic electronic skin (e-skin) using direct-ink writing. This scalable multimodal sensor platform detects pressure, temperature, and shear forces, enhancing robotic capabilities.

Keywords:

direct-ink-writing flexible tactile sensors multimodal sensing object recognition robotic manipulation

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Area of Science:

Robotics
Materials Science
Sensor Technology

Background:

Robotic electronic skin (e-skin) faces challenges in scalability, cost, and design flexibility.
Existing e-skins struggle to support multimodal sensing and customization.

Purpose of the Study:

To develop a scalable and customizable robotic e-skin using direct-ink writing technology.
To enable multimodal sensing (pressure, temperature, shear force) with facile sensor design modifications.

Main Methods:

Fabrication of e-skin using direct-ink writing technology.
Development of pyramid-structured tactile sensors for pressure detection.
Creation of a 4x9 flexible sensor array for pressure mapping.
Integration with a robotic gripper and K-nearest neighbor classifier for object recognition.
Modification of sensing layers for temperature and shear force detection.

Main Results:

The tactile sensor achieved high sensitivity (670 kPa⁻¹) and long-term stability (>3500 cycles) with minimal signal drift (<3%).
A 4x9 sensor array enabled real-time pressure mapping on various surfaces.
Object recognition accuracy reached 97.7% when integrated with a robotic gripper.
The e-skin demonstrated dual-mode sensing capabilities for temperature and shear force.

Conclusions:

Direct-ink writing offers a scalable and customizable approach for fabricating multimodal robotic e-skin.
The developed e-skin platform exhibits high performance and versatility for robotics, prosthetics, and human-machine interfaces.