Similarly, I'm a fan of Mojolicious, and Mojolicious::Lite looks to have been heavily inspired by Sinatra. I'm not sure exactly how far that inspiration goes though, as I see Sinatra explained as best used when you want something light, and Mojolicious looks to scale quite well to larger apps.
That is a typical explanation but there is nothing stopping you from using Sinatra for building large apps. In fact I find myself just as productive with Sinatra as I was with Rails for building very feature full apps.