Ori-Sense: origami capacitive sensing for soft robotic applications

• URL: http://arxiv.org/abs/2602.18379v1
• Date: Fri, 20 Feb 2026 17:39:16 GMT
• Title: Ori-Sense: origami capacitive sensing for soft robotic applications
• Abstract summary: Ori-Sense is a capacitive sensor inspired by the inverted Kresling origami pattern.<n>We fabricated a monolithic silicone structure with embedded conductive TPU electrodes, forming an integrated soft capacitor.
• Score: 4.139686908727751
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This work introduces Ori-Sense, a compliant capacitive sensor inspired by the inverted Kresling origami pattern. The device translates torsional deformation into measurable capacitance changes, enabling proprioceptive feedback for soft robotic systems. Using dissolvable-core molding, we fabricated a monolithic silicone structure with embedded conductive TPU electrodes, forming an integrated soft capacitor. Mechanical characterization revealed low stiffness and minimal impedance, with torque values below 0.01 N mm for axial displacements between -15 mm and 15 mm, and up to 0.03 N mm at 30 degrees twist under compression. Finite-element simulations confirmed localized stresses along fold lines and validated the measured torque-rotation response. Electrical tests showed consistent capacitance modulation up to 30%, directly correlated with the twist angle, and maximal sensitivity of S_theta ~ 0.0067 pF/deg at 5 mm of axial deformation.

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