Robots with Sensitive Feet

摘要

Research has shown that human balance control is dependant on force feedback provided by pressure sensed by the human sole. Consequently, for the vital functions of walking and standing on our legs, our sensitive feet play a very prominent role. However, biped robots have rarely been provided with sensing in the soles of their feet, except for a few cases where the forces at two or three points are measured. We have built a pilot system to measure foot-sole pressure for a robot's feet during walking. It uses resistive force sensor arrays to help create pressure maps of the sole.