A DIY Fabrication Approach of Stretchable Sensors Using Carbon Nano Tube Powder for Wearable Device

Ardi Wiranata, Yunosuke Ohsugi, Ayato Minaminosono, Zebing Mao, Haruyuki Kurata, Naoki Hosoya, Shingo Maeda

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


Soft robotics and wearable devices are promising technologies due to their flexibility. As human-soft robot interaction technologies advance, the interest in stretchable sensor devices has increased. Currently, the main challenge in developing stretchable sensors is preparing high-quality sensors via a simple and cost-effective method. This study introduces the do-it-yourself (DIY)-approach to fabricate a carbon nanotube (CNT) powder-based stretchable sensor. The fabrication strategy utilizes an automatic brushing machine to pattern CNT powder on the elastomer. The elastomer ingredients are optimized to increase the elastomer compatibility with the brushing method. We found that polydimethylsiloxane-polyethyleneimine (PDMS-PEIE) is 50% more stretchable and 63% stickier than previously reported PDMS 30-1. With these improved elastomer characteristics, PDMS-PEIE/multiwalled CNT (PDMS-PEIE/MWCNT-1) strain sensor can realize a gauge factor of 6.2–8.2 and a responsivity up to 25 ms. To enhance the compatibility of the powder-based stretchable sensor for a wearable device, the sensor is laminated using a thin Ecoflex membrane. Additionally, system integration of the stretchable sensors are demonstrated by embedding it into a cotton-glove and a microcontroller to control a virtual hand. This cost-effective DIY-approach are expected to greatly contribute to the development of wearable devices since the technology is simple, economical, and reliable.

Original languageEnglish
Article number773056
JournalFrontiers in Robotics and AI
Publication statusPublished - 2021 Nov 11


  • DIY
  • electroactive polymers
  • powder-based electrode
  • stretchable sensor
  • wearable sensor

ASJC Scopus subject areas

  • Computer Science Applications
  • Artificial Intelligence


Dive into the research topics of 'A DIY Fabrication Approach of Stretchable Sensors Using Carbon Nano Tube Powder for Wearable Device'. Together they form a unique fingerprint.

Cite this