Fig. 2: Structure design of the proposed e-skin.
From: A bio-inspired origami capacitive robotic e-skin with multimodal sensing capabilities
a Geometric definitions of Miura-ori cell. b Schematic of the multi-layer origami structure with crease optimizations. Different patterns were implemented for the upper and lower stiffeners. c Vertex cut optimizations. Stress distribution of (1) No vertex cut. (2) Circular cut with radius of 0.5 mm. (3) Circular cut with radius of 1 mm. d Pillar array design, each pillar was composed of three sections for a fast and convenient assembly process. e Capacitance variation of origami capacitor for different pillar height designs. f Shear-sensing layer interdigital electrodes design. g Capacitance variation of different interdigital electrode designs. `N' indicates the application of normal load.
