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.

翻译：本研究介绍了Ori-Sense——一种受倒置Kresling折纸结构启发的柔性电容传感器。该装置将扭转形变转化为可测量的电容变化，从而为软体机器人系统提供本体感知反馈。通过可溶芯模塑工艺，我们制造出具有嵌入式导电TPU电极的单体硅胶结构，形成集成的软体电容器。力学特性表征显示其具有低刚度和最小阻抗：在-15 mm至15 mm的轴向位移范围内扭矩值低于0.01 N·mm，压缩状态下30度扭转时扭矩最高达0.03 N·mm。有限元模拟证实了沿折叠线的局部应力分布，并验证了实测的扭矩-旋转响应关系。电学测试表明其电容调制率最高可达30%，与扭转角度直接相关，在5 mm轴向变形时获得最大灵敏度S_θ ~ 0.0067 pF/deg。