Can a non-OEM cartridge void my printer's warranty?

I've had this discussion today with a frind of mine. He was absolutely conviced that by using non-OEM cartridges, he would void is warranty. I on the other hand am absolutely certain that even if the printer companies claim that the warranty is voided by using other inks than their own, they are lying through their teeth.

I told my my friend that it's like bying a new car, and the manufacturer tells you that if you are not filling it up only with "somethingOIL" fuel, you'll void your...

Can a non-OEM cartridge void my printer's warranty?