 A novel strain sensor based on soft polyurethane sponge and carbon nanotubes is designed for motion capture of human joints, with a rhombic mesh structure and pre-compression design to enhance its stretchability and elongation rate. The sensor exhibits promising sensing performance with high sensitivity, low detection limit, fast response capacity, and long-term durability, and is validated through real-time tele-operation of a robot arm using a digital twin model. This article was authored by Zhichou Yi, Gao Yangpeng, Ehel Young, and others.