Soft robots have received an increasing attention due to their advantages of high flexibility and safety for human operators but the fabrication is a challenge. Recently, 3D printing has been used as a key technology to fabricate soft robots because of high quality and printing multiple materials at the same time. Functional soft materials are particularly well suited for soft robotics due to a wide range of stimulants and sensitive demonstration of large deformations, high motion complexities and varied multi-functionalities. This review comprises a detailed survey of 3D printing in soft robotics. The development of key 3D printing technologies and new materials along with composites for soft robotic applications is investigated. A brief summary of 3D-printed soft devices suitable for medical to industrial applications is also included. The growing research on both 3D printing and soft robotics needs a summary of the major reported studies and the authors believe that this review article serves the purpose.

Single transducer with humidity sensing materials has limitations in both range and sensitivity, which cannot be used to detect the full range of humidity with consistent sensitivity. To enlarge range and improve sensitivity in the all range relative humidity (RH), we propose a highly sensitive and full range detectable humidity sensor based on multiple inter-digital transducer (IDT) electrodes connected in series with poly(3,4-ethylenedioxythiophene) doped poly (styrene sulfonate) anions (PEDOT: PSS), C15H15N3O2 (Methyl Red), and graphene oxide (GO) thin films as the active sensing materials. The humidity sensor with single active material has a limit in the detecting ranges, where the GO, PEDOT: PSS, and Methyl Red materials have sensing responses of 0 to 78% RH, 30 to 75% RH, and 25 to 100% RH, respectively. However, a humidity sensor using combined three active materials can respond to much wider range of RH with high sensitivity, where the IDTs and the active regions were prepared using ink-jet printing and spin coating, respectively. This proposed sensor can detect a full range of 0% RH to 100% RH. The response and recovery times are 1 sec and 3.5 sec, respectively. Our single sensing device using multiple IDTs connected different active materials in series can overcome the limitations of single transducer based sensor for the high performance sensor applications.

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A novel, highly flexible and electrically resistive-type strain sensor with a special three-dimensional conductive network was 3D printed using a composite of conductive graphene pellets and flexible thermoplastic polyurethane (TPU) pellets.

A highly specific and sensitive linear humidity sensor has been fabricated using a dispersion of 2D hexagonal boron nitride (hBN) flakes in polyethylene oxide (PEO).

Immunosensors are used to detect the presence of certain bio-reagents mostly targeted at the diagnosis of a condition or a disease. Here, a general purpose electrical immunosensor has been fabricated for the quantitative detection of multiple bio-reagents through the formation of an antibody-antigen pair. The sensors were fabricated using all printing approaches. 2D transition metal dichalcogenide (TMDC) MoS2 thin film was deposited using Electrohydrodynamic atomization (EHDA) on top of an interdigitated transducer (IDT) electrode fabricated by reverse offset printing. The sensors were then treated with three different types of antibodies that were immobilized by physisorption into the highly porous multi-layered structure of MoS2 active layer. BSA was used as blocking agent to prevent non-specific absorption (NSA). The sensors were then employed for the targeted detection of the specific antigens including prostate specific antigen (PSA), mouse immunoglobulin-G (IgG), and nuclear factor kappa-light-chain-enhancer of activated B cells (NF-κB). IgG was then selected to test the sensors for point of care (POC) diagnosis through a specially designed electronic readout system for sensors and interfacing it with a smartphone using Bluetooth connection. The sensors showed promising performance in terms of stability, specificity, repeatability, sensitivity, limit of detection (LoD), and range of detection (RoD).

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