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Wearable devices have made transformative advancements driven by the integration of nanomaterials, enhancing their versatility, sensitivity, and overall performance. The emerging 3D printing techniques revolutionize traditional fabrication, enabling the high-efficiency fabrication for sophisticated and miniaturized healthcare monitoring systems. This review summarizes the essential properties of nanomaterials and their roles in 3D printing and examines the pros and cons of various 3D printing methods. Key applications of 3D-printed wearable devices, showcasing the synergistic contributions of nanomaterials, are introduced to provide a comprehensive overview of the state-of-the-art progress and the promising prospects for next-generation healthcare monitoring. 

In monocular visual-inertial navigation, it is desirable to initialize the system as quickly and robustly as possible. A state-of-the-art initialization method typically constructs a linear system to find a closed-form solution using the image features and inertial measurements and then refines the states with a nonlinear optimization. These methods generally require a few seconds of data, which however can be expedited (less than a second) by adding constraints from a robust but only up-to-scale monocular depth network in the nonlinear optimization. To further accelerate this process, in this work, we leverage the scale-less depth measurements instead in the linear initialization step that is performed prior to the nonlinear one, which only requires a single depth image for the first frame. Importantly, we show that the typical estimation of all feature states independently in the closed-form solution can be modeled as estimating only the scale and bias parameters of the learned depth map. As such, our formulation enables building a smaller minimal problem than the state of the art, which can be seamlessly integrated into RANSAC for robust estimation. Experiments show that our method has state-of-the-art initialization performance in simulation as well as on popular real-world datasets (TUM-VI, and EuRoC MAV). For the TUM-VI dataset in simulation as well as real-world, we demonstrate the superior initialization performance with only a 0.3 s window of data, which is the smallest ever reported, and validate that our method can initialize more often, robustly, and accurately in different challenging scenarios. 

Wearable sweat biosensors have shown great progress in noninvasive, in situ, and continuous health monitoring to demonstrate individuals’ physiological states. Advances in novel nanomaterials and fabrication methods promise to usher in a new era of wearable biosensors. Here, we introduce a threedimensional (3D)-printed flexible wearable health monitor fabricated through a unique one-step continuous manufacturing process with self-supporting microfluidic channels and novel single-atom catalyst-based bioassays for measuring the sweat rate and concentration of three biomarkers. Direct ink writing is adapted to print the microfluidic device with self-supporting structures to harvest human sweat, which eliminates the need for removing sacrificial supporting materials and addresses the contamination and sweat evaporation issues associated with traditional sampling methods. Additionally, the pick-and-place strategy is employed during the printing process to accurately integrate the bioassays, improving manufacturing efficiency. A single-atom catalyst is developed and utilized in colorimetric bioassays to improve sensitivity and accuracy. A feasibility study on human skin successfully demonstrates the functionality and reliability of our health monitor, generating reliable and quantitative in situ results of sweat rate, glucose, lactate, and uric acid concentrations during physical exercise.