Ori-Sense: origami capacitive sensing for soft robotic applications
2026-02-20 • Robotics
Robotics
AI summaryⓘ
The authors created Ori-Sense, a soft sensor based on an origami pattern that can measure twisting movements by detecting changes in electrical capacitance. They made the sensor using a special molding process with silicone and conductive materials, allowing it to bend and twist easily while measuring torque. Tests showed the sensor responds predictably to twisting and stretching, with simulations supporting their findings. This device helps soft robots know how much they are twisting by sensing electrical changes.
origami patterncapacitive sensortorsional deformationsoft roboticsproprioceptiondissolvable-core moldingfinite-element simulationtorquecapacitanceconductive TPU
Authors
Hugo de Souza Oliveira, Xin Li, Mohsen Jafarpour, Edoardo Milana
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.