#  Fabrication 

 



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This section details the steps required for fabricating one sensor and how to setup the sensor for measurement. The fabrication of the sensor is mainly a three-step process: casting the conductive rubber (the interface), casting the sensor body and injecting the conductive fluid.

SortOverview ![conduct-step15](/sites/g/files/omnuum4601/files/2024-11/conduct-step15.jpg)

 



[**Step 1: Conductive Rubber**](https://sandbox.softroboticstoolkit.com/f2875f32/fabrication/subpage2)

This step is mainly casting conductive rubber using chopped carbon fiber strands and silicone rubber



 ![sensor-step11](/sites/g/files/omnuum4601/files/2024-11/sensor-step11.jpg)

 



[**Step 2: Sensor Body**](https://sandbox.softroboticstoolkit.com/f2875f32/fabrication/subpage3)

This step is casting silicone around the conductive rubber to embed them and provide an interface between the outside and inner cavity of the sensor. Once casted a rubber tube and leads are attached.



 ![setup-step8](/sites/g/files/omnuum4601/files/2024-11/setup-step8.jpg)

 



[**Step 3: Sensor Setup**](https://sandbox.softroboticstoolkit.com/f2875f32/design/subpage3)

Sensor setup is simply adding conductive fluid to the sensor. In this guide, the conductive fluid is salt water.



 ![setup-step15](/sites/g/files/omnuum4601/files/2024-11/setup-step15.jpg)

 



[**Step 4: Equipment Setup**](https://sandbox.softroboticstoolkit.com/f2875f32/testing/subpage1)

A rough guideline is provided for hardware setup to get readings from the sensor







### **Bibliography**

Preechayasomboon et. al. [Multi-Modal Sensing and Actuation in Biomechanical Hydraulic and Pneumatic Systems.](/publications/multi-modal-sensing-and-actuation-biomechanical-hydraulic-and-pneumatic?admin_panel=1)

[Export Citation](/bibcite/export?content_filter%5B0%5D=1333742&format=bibtex)

### **Contributors**

Pornthep Preechayasomboon

Gaurav Mukherjee

Eric Rombokas