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.

中文翻译：

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FootTile：一种坚固的足部传感器，用于软地形中的力和压力传感中心

在本文中，我们介绍了 FootTile，这是一种足部传感器，用于在具有挑战性的地形中感应反作用力和压力中心。我们将我们的传感器设计与标准生物力学设备、测力板和压力板进行比较。我们表明 FootTile 可以准确估计腿部运动过程中的力和压力分布。FootTile 重 0.9 克，采样率为 330Hz，占地面积为 10 x 10 毫米，可以轻松适应传感器范围以适应所需的负载情况。在三个实验中，我们验证了：首先是单个传感器的性能，其次是用于压力传感中心的 FootTiles 阵列，第三是在颗粒基质中运动期间的地面反作用力估计。然后，我们继续展示防水传感器在液体泥浆中的准确传感能力，作为现实世界崎岖地形使用的展示。