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3D-Printed Metamaterial-Based Soft Sensors: Materials, Design, and Fabrications.

Seik Park^1,2, Tri Dung Nguyen^1,2, Eunji Kim^1,3

¹Advanced Intelligent Robotics Laboratory, Korea Aerospace University, Goyang-si, Republic of Korea.

Small (Weinheim an Der Bergstrasse, Germany)

|June 15, 2026

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3D-printed metamaterial soft sensors offer advanced mechano-sensing for soft robotics. This review synthesizes additive manufacturing, materials, and sensing mechanisms for perceptive soft machines.

Area of Science:

Materials Science
Robotics
Additive Manufacturing

Background:

Additive manufacturing (AM) enables complex 3D soft bodies, crucial for advanced soft matter systems.
Soft robotics demands compliant, distributed, and deformation-driven sensing solutions.
3D-printed metamaterial-based soft sensors show promise for high-performance mechano-sensing.

Purpose of the Study:

To provide a comprehensive framework for 3D-printed metamaterial-based soft sensors.
To review AM technologies, material systems, and sensing mechanisms.
To offer design frameworks for perceptive soft machines.

Main Methods:

Discussion of available 3D printing technologies, focusing on resolution, multi-material capabilities, and structural fidelity.

Keywords:

3D printing conductive materials metamaterials perception soft robots soft sensors tactile sensors transduction mechanisms

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Examination of various 3D printing materials (polymer-based, functional composites, smart responsive materials) and their structure-property relationships.

Classification of metamaterial transduction mechanisms (resistive, capacitive, inductive) and emerging multimodal sensing.

Main Results:

AM enables sophisticated soft bodies with tunable stiffness and controlled instability.
Material-structure interactions are key to achieving desired sensing performance.
Metamaterial-based sensors offer efficient electromechanical transduction.

Conclusions:

Synthesizing AM, materials, and sensing architectures provides design frameworks for soft sensors.
This review highlights the potential of 3D-printed metamaterial sensors for perceptive soft machines.
Outlook provided for real-world applications of advanced soft sensing technologies.