THE CURRENT PLANETARY ROVER PARADIGM CONSISTS OF LARGE BOXY SIX-WHEELED ROBOTS BUT SMALL TO MICRO-SIZED ROBOTS HAVE SIGNIFICANT POTENTIAL IN SPACE EXPLORATION. AN ORIGAMI-INSPIRED FOLDING SMALL ROBOT HAS MANY BENEFITS FOR TERRAIN EXPLORATION DUE TO ITS FOLDING CHASSIS: A FOLDED CONFIGURATION LOWERS THE CENTER OF GRAVITY FOR TACKLING STEEP INCLINES AND SAVES SPACE FOR TIGHT CREVICES AND CAVERNS. THE COMMON APPROACH FOR FOLDING ELECTRONICS IS TO SIMPLY ADAPT TRADITIONAL ELECTRONICS FOR FOLDING. IN CONTRAST A SENSOR THAT IS ENTIRELY FLEXIBLE AND STRETCHABLE AND THUS ABLE TO BE ARBITRARILY SHAPED ALLOWS FOR A GREATER VARIETY OF MECHANICAL DESIGNS SENSOR PLACEMENTS AND SENSING CAPABILITIES OF THE ROBOT. A CAPACITIVE FLEXIBLE AND STRETCHABLE SENSOR CAN BE MADE BY SANDWICHING A PLIABLE DIELECTRIC SUCH AS SILICONE IN BETWEEN TWO FLEXIBLE ELECTRODE LAYERS. THE RESEARCH PROPOSED AIMS TO DEMONSTRATE THE FEASIBILITY OF SOFT STRETCHABLE/ FLEXIBLE TEXTILE-SILICONE COMPOSITE SENSORS AND EVALUATE THEIR PERFORMANCE FOR NOVEL SPACE ROBOTICS. THIS WOULD FULFILL RESEARCH IN TECHNICAL AREA 04: ROBOTICS AND AUTONOMOUS SYSTEMS SECTION 1 ITEM 5 (4.1.5). BY LEVERAGING TEXTILES DURING THE CONSTRUCTION PROCESS A TEXTILE COMPOSITE SENSOR IS INHERENTLY SUITABLE FOR FOLDING AND STRETCHING. CREATING A NONRIGID AND FULLY FOLDABLE SENSOR SUITE OPENS OPPORTUNITIES FOR FOLDING ROBOTS AND OTHER NOVEL ROBOTIC CONFIGURATIONS.