Multi-material 3D printed multiple state sensor units: design and materialization of a command joystick set

A joystick set for controlling different degrees of freedom was designed, materialized and characterized. The joystick was designed for 3D printing, improved through several iterations, producing multiple samples using multi-material additive manufacturing. Two different materials (one structural and another conductive) were used in the filament material extrusion process to obtain resistive-based sensing unit elements. The sensor was put into operation via a voltage divider circuit. Experimentation was implemented in a testing bed (analogic sensor), in a real context (binary mode) and in a simulation environment (multiple-state signal) for the command of a robotized wheelchair. The final design is capable to meet the requirements of reducing the material used and the printing times. The results reveal the possibility of using 3D printed resistive-based sensing units to implement binary signals as well as multiple state signals and the sensor set has been evaluated by controlling a robotized wheelchair.