Industrial automation requires flexible and safe solutions for handling delicate and non-standard objects. Soft actuators represent a promising alternative to rigid systems, as they enable conformal adaptation to surfaces and reduce the need for complex control, while their main limitation is the lack of feedback on their performance. In this thesis, we focused on the development and characterization of flexible resistive sensors fabricated by material extrusion (MEX) from electrically conductive thermoplastic polyurethane (TPU). For the 3D printing parameters, we determined the most suitable filament feed rate and layer height to achieve the lowest possible initial electrical resistance. For the geometric parameters, we defined the optimal width and height of the conductive trace and the number of meanders to maximize the resistance change during deformation. For reproducible testing, we designed and built a dedicated bending test device. Based on the results, we selected the most suitable sensor and integrated it into a soft pneumatic actuator. Experimental evaluation confirmed that the integrated sensor enables reliable monitoring of actuator deformation through changes in electrical resistance.
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