用折纸结构实现柔软机器人自感知，可测扭转与压缩变形。
Ori-Sense: origami capacitive sensing for soft robotic applications
- 模仿反向Kresling折纸设计，通过扭转改变电容值。
- 电容变化达30%，最大灵敏度0.0067 pF/deg，扭矩低于0.03 N mm。
- 一体成型硅胶结构，适合柔性机器人实时反馈需求。
本文提出Ori-Sense，一种受倒置Kresling折纸结构启发的柔性电容式传感器。该装置将扭转形变转化为可测量的电容变化，为软体机器人提供本体感知反馈。通过可溶芯模塑工艺，制造出集成导电TPU电极的一体化硅胶结构，形成柔性电容器。力学表征显示其刚度低、阻抗小，在轴向位移-15至15 mm范围内扭矩低于0.01 N mm，压缩下30°扭转时达0.03 N mm。有限元模拟验证了折叠线处的局部应力分布，并与实测扭矩-旋转响应一致。电学测试表明电容可调范围达30%，与扭转角呈直接相关，5 mm轴向变形时灵敏度最高，约为S_theta ~ 0.0067 pF/deg。
原文摘要 · Abstract (English)
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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