Development of Soft sEMG Sensing Structures Using 3D-Printing Technologies

Gerjan Wolterink*, Pedro Dias, Remco G. P. Sanders, Frodo Muijzer, Bert-Jan van Beijnum, Peter Veltink, Gijs Krijnen

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

23 Citations (Scopus)
214 Downloads (Pure)


3D printing of soft EMG sensing structures enables the creation of personalized sensing structures that can be potentially integrated in prosthetic, assistive and other devices. We developed and characterized flexible carbon-black doped TPU-based sEMG sensing structures. The structures are directly 3D-printed without the need for an additional post-processing step using a low-cost, consumer grade multi-material FDM printer. A comparison between the gold standard Ag/AgCl gel electrodes and the 3D-printed EMG electrodes with a comparable contact area shows that there is no significant difference in the EMG signals’ amplitude. The sensors are capable of distinguishing a variable level of muscle activity of the biceps brachii. Furthermore, as a proof of principle, sEMG data of a 3D-printed 8-electrode band are analyzed using a patten recognition algorithm to recognize hand gestures. This work shows that 3D-printed sEMG electrodes have great potential in practical applications
Original languageEnglish
Article number4292
Pages (from-to)1-18
Number of pages18
JournalSensors (Switzerland)
Issue number15
Publication statusPublished - 31 Jul 2020


  • 3D-printing
  • Conductive
  • EMG
  • Electrodes
  • Flexible
  • Soft
  • Thermoplactic polyurethane (TPU)


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