In the last decade, significant developments of flexible and stretchable force sensors have been witnessed in order to satisfy the demand of several applications in robotic, prosthetics, wearables and structural health monitoring bringing decisive advantages due to their manifold customizability, easy integration and outstanding performance in terms of sensor properties and low-cost realization. In this paper, we review current advances in this field with a special focus on polymer/carbon nanotubes (CNTs) based sensors. Based on the electrical properties of polymer/CNTs nanocomposite, we explain underlying principles for pressure and strain sensors. We highlight the influence of the manufacturing processes on the achieved sensing properties and the manifold possibilities to realize sensors using different shapes, dimensions and measurement procedures. After an intensive review of the realized sensor performances in terms of sensitivity, stretchability, stability and durability, we describe perspectives and provide novel trends for future developments in this intriguing field.

Dispersion of carbon nanotubes (CNT) in solvents and/or polymers is essential to reach the full potential of the CNTs in nanocomposite materials. Dispersion of CNTs is especially challenging due to the van-der-Waals attraction forces between the CNTs, which let them tend to re-bundle and/or re-aggregate. This paper presents a brief analysis of the quality and stability of functionalized multiwalled carbon nanotubes (fMWCNT) dispersion on polar solvents. A comparative study of functionalized CNT dispersion in water, methyl, and alcohol-based organic solvents has been carried out and the dispersion has been characterized by UV-VIS spectroscopy, electrochemical characterization such as cyclic voltammetry (CV) and electrochemical impedance spectroscopy (EIS). Visual analysis of the dispersion has been investigated for up to 14 days to assess the dispersion’s stability. Based on the material characterization, it was observed that the degree of affinity fMWCNT with -COOH group highly depends on the polarity of the solvent, where the higher the polarity, the better the interaction of fMWCNT with solvents.

Foot pressure measurement plays an essential role in healthcare applications, clinical rehabilitation, sports training and pedestrian navigation. Among various foot pressure measurement techniques, in-shoe sensors are flexible and can measure the pressure distribution accurately. In this paper, we describe the design and characterization of flexible and low-cost multi-walled carbon nanotubes (MWCNT)/Polydimethylsiloxane (PDMS) based pressure sensors for foot pressure monitoring. The sensors have excellent electrical and mechanical properties an show a stable response at constant pressure loadings for over 5000 cycles. They have a high sensitivity of 4.4 k$\mathsf{\Omega }$/kPa and the hysteresis effect corresponds to an energy loss of less than 1.7%. The measurement deviation is of maximally 0.13% relative to the maximal relative resistance. The sensors have a measurement range of up to 330 kPa. The experimental investigations show that the sensors have repeatable responses at different pressure loading rates (5 N/s to 50 N/s). In this paper, we focus on the demonstration of the functionality of an in-sole based on MWCNT/PDMS nanocomposite pressure sensors, weighing approx. 9.46 g, by investigating the foot pressure distribution while walking and standing. The foot pressure distribution was investigated by measuring the resistance changes of the pressure sensors for a person while walking and standing. The results show that pressure distribution is higher in the forefoot and the heel while standing in a normal position. The foot pressure distribution is transferred from the heel to the entire foot and further transferred to the forefoot during the first instance of the gait cycle.

One of the main challenges during the integration of a carbon/polymer-based nanocomposite sensor on textile substrates is the fabrication of a homogeneous surface of the nanocomposite-based thin films, which play a major role in the reproducibility of the sensor. Characterizations are therefore required in every fabrication step to control the quality of the material preparation, deposition, and curing. As a result, microcharacterization methods are more suitable for laboratory investigations, and electrical methods can be easily implemented for in situ characterization within the manufacturing process. In this paper, several textile-based pressure sensors are fabricated at an optimized concentration of 0.3 wt.% of multiwalledcarbon nanotubes (MWCNTs) composite material in PDMS. We propose to use impedance spectroscopy for the characterization of both of the resistive behavior and capacitive behavior of the sensor at several frequencies and under different loads from 50 g to 500 g. The impedance spectra are fitted to a model composed of a resistance in series with a parallel combination of resistance and a constant phase element (CPE). The results show that the printing parameters strongly influence the impedance behavior under different loads. The deviation of the model parameter $\alpha$ of the CPE from the value 1 is strongly dependent on the nonhomogeneity of the sensor. Based on an impedance spectrum measurement followed by parameter extraction, the parameter $\alpha$ can be determined to realize a novel method for homogeneity characterization and in-line quality control of textile-integrated wearable sensors during the manufacturing process.

Field capacity (F.C.) is a crucial parameter in soil analysis, defining the limits of plant-available moisture content. Integrating this concept into sensing technology provides valuable information for optimizing irrigation scheduling by determining the appropriate timing and quantity of irrigation, thereby preventing crop damage. This article presents a fractal-based microwave planar sensor designed to estimate soil moisture characteristics related to F.C. The proposed sensor utilizes a self-similar fractal approach, operating in the ISM frequency band at 2.4 GHz, achieving high return losses of approximately -47.94 dB and enhanced sensitivity in material characterization. The sensor’s performance is evaluated by varying F.C. values from 0% to 100% for similar textured soils with organic matter content (OMC) variations. The results demonstrate that variations in OMC significantly impact the dielectric properties of soil with moisture variations. Specifically, Sample-1, which has a low OMC, exhibits a lower ϵ_r values than Sample-2 at all F.C. levels. This data suggests that the proposed sensor is sensitive to detect the impact of OMC variations on soil moisture characteristics concerning F.C. A mathematical model has been formulated as a second-order polynomial equation, exhibiting R2 value of 0.9771. This model has been developed specifically to evaluate F.C. values, demonstrating a strong correlation with the observed data. The performance of the proposed sensor confirms its potential application in agricultural fields for efficient irrigation scheduling and water resource conservation.