A capacitive rotation angle sensor (300, 600) for measuring a small angle displacement of an object, comprising: an excitation array having a plurality of first conductive emitters and a plurality of second conductive emitters, the first emitters being arranged alternately with the second emitters, the plurality of first emitters emitting a first sinusoidal signal, and the plurality of second emitters emitting a second sinusoidal signal, the second sinusoidal signal being out of phase with the first sinusoidal signal; a measurement array having a plurality of first conductive detectors and a plurality of second conductive detectors, the first detectors being arranged alternately with the second detectors; and a rotor array arranged between the excitation array and the measurement array, the rotor array having a plurality of electrodes and being adapted to be mechanically coupled to the object and rotationally movable between the excitation array and the measurement array, wherein the excitation array and measurement array form a capacitive bridge, defining a first variable capacitor between the first emitters and the first detectors, a second variable capacitor between the second emitters and the first detectors, a third variable capacitor between the first emitters and the second detectors, and a fourth variable capacitor between the second emitters and the second detectors, wherein the first detectors sense a first voltage at a point between the first and second variable capacitors, and the second detectors sense a second voltage at a point between the third and fourth variable capacitors, the capacitive rotation angle sensor (300,600) further configured to produce a differential signal equal to the difference between the first and second voltages, wherein movement of the plurality of electrodes between the excitation array and the measurement array varies the first voltage and the second voltage sensed by the measurement array, such that the differential signal is proportional to the movement, to allow the measurement array to measure a position of the object. an excitation array having a plurality of first conductive emitters and a plurality of second conductive emitters, the first emitters being arranged alternately with the second emitters, the plurality of first emitters emitting a first sinusoidal signal, and the plurality of second emitters emitting a second sinusoidal signal, the second sinusoidal signal being out of phase with the first sinusoidal signal; a measurement array having a plurality of first conductive detectors and a plurality of second conductive detectors, the first detectors being arranged alternately with the second detectors; and a rotor array arranged between the excitation array and the measurement array, the rotor array having a plurality of electrodes and being adapted to be mechanically coupled to the object and rotationally movable between the excitation array and the measurement array, wherein the excitation array and measurement array form a capacitive bridge, defining a first variable capacitor between the first emitters and the first detectors, a second variable capacitor between the second emitters and the first detectors, a third variable capacitor between the first emitters and the second detectors, and a fourth variable capacitor between the second emitters and the second detectors, wherein the first detectors sense a first voltage at a point between the first and second variable capacitors, and the second detectors sense a second voltage at a point between the third and fourth variable capacitors, the capacitive rotation angle sensor (300,600) further configured to produce a differential signal equal to the difference between the first and second voltages, wherein movement of the plurality of electrodes between the excitation array and the measurement array varies the first voltage and the second voltage sensed by the measurement array, such that the differential signal is proportional to the movement, to allow the measurement array to measure a position of the object.