Printed, wearable e-skin force sensor array

Research output: Contribution to journalResearch articleContributedpeer-review


The need to develop electronic skin (e-skin) for robotics is essential to provide a sense of touch on a large area, the same as human skin. This paper reports the design and development of printed e-skin force sensor arrays. The performance analysis of these capacitive force sensor arrays showed a resolution of 2.5 sq. mm, localization accuracy of 99% and a sensitivity of 0.53 pF/N. The sensor patches provided significant force sensitivity and stable loading and unloading for static force. A graphical user interface is developed in open-source python software. An unsupervised machine learning algorithm trains the tactile e-skin system for different user styles to distinguish the cluster of lower and higher touch angles for improving accuracy. The proposed e-skin sensor finds application in large-area sensors and gripper pads for prosthetics in biomedical devices where the sense of touch and high resolution is needed.


Original languageEnglish
Article number112348
Publication statusPublished - Jan 2023

External IDs

Scopus 85144354087
Mendeley 92d89dba-ec3b-301c-b12d-9f87d7139060
unpaywall 10.1016/j.measurement.2022.112348
ORCID /0000-0002-0803-8818/work/142257128


Research priority areas of TU Dresden

DFG Classification of Subject Areas according to Review Boards


  • E-skin, Flexible, Localization, Printed, Electrochemical Impedance spectroscopy, Sensor array

Library keywords