Ori-Sense: origami capacitive sensing for soft robotic applications
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866914340085432320 |
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| author | Oliveira, Hugo de Souza Li, Xin Jafarpour, Mohsen Milana, Edoardo |
| author_facet | Oliveira, Hugo de Souza Li, Xin Jafarpour, Mohsen Milana, Edoardo |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_18379 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Ori-Sense: origami capacitive sensing for soft robotic applications Oliveira, Hugo de Souza Li, Xin Jafarpour, Mohsen Milana, Edoardo Robotics Soft Condensed Matter 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. |
| title | Ori-Sense: origami capacitive sensing for soft robotic applications |
| topic | Robotics Soft Condensed Matter |
| url | https://arxiv.org/abs/2602.18379 |