Machining of difficult-to-cut materials such as titanium alloys, stainless steel, Inconel, ceramic, glass, and carbon fiber-reinforced plastics used in the aerospace, automobile, and medical industries is being actively researched. One non-traditional machining method involves the use of an abrasive waterjet, in which ultra-high-pressure water and abrasive particles are mixed and then ejected through a nozzle, and the thin jet stream cuts materials. The nozzle greatly affects the machining quality, as does the cutting tool of general machining, so it is very important to monitor the nozzle condition. If the nozzle is damaged or worn, or if the bore size increases or the bore becomes clogged with abrasive, the material may not be cut, or the surface quality of the cut may deteriorate. Here, we develop a nozzle monitoring system employing an acoustic emission sensor that detects the nozzle condition in real time.

We developed a direct-printed flexible tactile-sensor-based robotic gripper system for object