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.
@article{arxiv.2602.18379,
title = {Ori-Sense: origami capacitive sensing for soft robotic applications},
author = {Hugo de Souza Oliveira and Xin Li and Mohsen Jafarpour and Edoardo Milana},
journal= {arXiv preprint arXiv:2602.18379},
year = {2026}
}
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9th IEEE-RAS International Conference on Soft Robotics (RoboSoft 2026)