Human muscles can sense external stimuli and generate forces as well. To emulate these capabilities, we design a paper-based transducer capable of both sensing and actuation. Utilizing the origami technique, we develop a soft transducer with attributes of simple structure, easy fabrication and low cost. The origami transducer can function as a deformable capacitive sensor to measure contract forces/pressures. It can achieve a sensitivity up to 0.051 kPa ⁻¹, comparable to soft capacitive sensors in the literature. During cyclic tests up to 1000 cycles, this soft sensor exhibits excellent repeatability and negligible hysteresis, thus enabling a high accuracy. On the other hand, this origami transducer can act as a soft actuator to generate haptic feedback. The voltage-induced output force can be 0.4 N, comparable to haptic devices based on soft actuators in the literature. This origami transducer is finally demonstrated for application to breath monitoring of a subject, functioning as both a wearable sensor and actuator. It is believed that paper-based origami transducers can offer a unique option to soft robots and wearable devices, due to their simple design, low cost, and capability for simultaneous sensing and actuation.

人体肌肉可以感知外部刺激并产生力量。为了模拟这些功能，我们设计了一种能够感知和驱动的纸质传感器。利用折纸技术，我们开发了一种结构简单、制造容易、成本低的软换能器。折纸换能器可用作可变形电容传感器以测量收缩力/压力。它可以达到高达 0.051 kPa ^-1的灵敏度，可与文献中的软电容传感器相媲美。在高达 1000 次循环的循环测试中，这种软传感器表现出出色的重复性和可忽略的滞后，从而实现高精度。另一方面，这种折纸传感器可以充当软致动器来产生触觉反馈。电压感应输出力可以为 0.4 N，与文献中基于软执行器的触觉设备相当。这种折纸换能器最终被证明适用于受试者的呼吸监测，既可用作可穿戴传感器又可用作执行器。人们相信纸基折纸传感器可以为软机器人和可穿戴设备提供独特的选择，因为它们设计简单，成本低，并且能够同时传感和驱动。