3D printing of multiaxial force sensors using carbon nanotube (CNT)/thermoplastic polyurethane (TPU) filaments

We developed a new method to directly fabricate 3D multiaxial force sensor using fused deposition modeling (FDM) 3D printing of functionalized nanocomposite filaments. Here, 3D cubic cross shaped force sensor is suggested to measure the forces from three axes (x, y and z). The sensor has two components – a structural part and a sensing part – both of which are concurrently fabricated by 3D printing with different functional filaments. The structural part is printed with thermoplastic polyurethane (TPU) filament and the sensing part is printed with carbon nanotube (CNT)/TPU nanocomposite filament with a piezoresistivity on the surface of the structural part. The resistances of the sensing part are measured in three axial directions; R_x, R_y, and R_z and the force applied on each axis is measured by the resistance change. The 3D-printed multiaxial force sensor could detect the sub-millimeter scale deflection and its corresponding force on each axis. According to the sensing principle, when F_z = 4 N was applied, R_z was decreased by 2% while only 0.2% resistance change of R_y was induced. In addition, a simultaneous resistance measurement system was developed for a real-time force sensing in three axes. With its customizability, rapid manufacturing, and economic feasibility, this manufacturing approach allows direct fabrication of multiaxial sensors without additional assembly or integration processes.