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

2020

Conference Paper

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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 330 Hz, a footprint of 10×10 mm 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.

Author(s): Felix Ruppert, and Alexander Badri-Spröwitz
Book Title: Proceedings of the IEEE International Conference on Robotics and Automation
Year: 2020
Month: May
Publisher: IEEE

Department(s): Dynamic Locomotion
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference

Event Name: International Conference on Robotics and Automation
Event Place: Paris, France

State: Accepted
URL: http://arxiv.org/abs/2005.09025

Links: Youtube1
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Video:
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Attachments: Presentation

BibTex

@inproceedings{ruppert2020a,
  title = {FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain},
  author = {Ruppert, Felix and Badri-Spr{\"o}witz, Alexander},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  publisher = {IEEE},
  month = may,
  year = {2020},
  url = {http://arxiv.org/abs/2005.09025},
  month_numeric = {5}
}