Table 2.

Comparison of the total cost of our proposed soft tactile/capacitance sensor with previous well-known approaches.

Method	Sensor Body		Electrodes		Fabrication Cost
	Type	Price	Type	Price
Proposed sensor	Silicone	+	Conductive ink	+	+
Kim et al. [20]	Silicone	+	Liquid metal EGaIn	++++	+++
Cheng et al. [24]	Polydimethylsiloxane (PDMS)	++	Copper wires	+	++
Lipomi et al. [43]	PDMS	++	Carbon nanotube	++	+++
Yao et al. [44]	Silicone	+	Silver nanowire AgNW	++++	+++