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In this paper, inkjet printed antennas on paper based substrates are investigated for the first time as a solution for the mass production of ultra-low cost radio frequency identification (RFID) and sensing applications. A cavity resonator method and a Transmission Line (TL) method were utilized for the RF characteristics extraction of paper substrate: dielectric constant (epsivr) and loss tangent (tandelta). A UHF RFID antenna was designed and developed on paper substrate using inkjet printing technology which could serve as a technology for a much simpler and faster method for fabricating RFID tags and ultra-low cost paper-based RF front-ends and antennas. Simulation and experimental results verify the characteristics of paper substrate and the performance of the RFID tag.