FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain

TL;DR

FootTile is a lightweight, waterproof foot sensor capable of accurately measuring force and pressure distribution in challenging terrains, validated through multiple experiments including real-world muddy conditions.

Contribution

The paper introduces FootTile, a novel rugged, adaptable foot sensor for force and pressure sensing in soft and rough terrains, outperforming standard biomechanical devices.

Findings

Accurately estimates force and pressure distribution during locomotion.

Effective in granular and liquid mud terrains.

Demonstrates high sampling rate and adaptability for various load cases.

Abstract

In this paper we present FootTile, a foot sensor for reaction force and center of pressure sensing in challenging terrain. We compare our sensor design to standard biomechanical devices, force plates and pressure plates. We show that FootTile can accurately estimate force and pressure distribution during legged locomotion. FootTile weighs 0.9g, has a sampling rate of 330Hz, a footprint of 10 by 10mm and can easily be adapted in sensor range to the required load case. In three experiments we validate: first the performance of the individual sensor, second an array of FootTiles for center of pressure sensing and third the ground reaction force estimation during locomotion in granular substrate. We then go on to show the accurate sensing capabilities of the waterproof sensor in liquid mud, as a showcase for real world rough terrain use.