Development of a System Capable of Measuring and Presenting the Vertical Force and Friction Force on the Sole

The authors developed shoes capable of measuring vertical force and friction force on the sole at four points where weight is concentrated, and devices that can feed back the force to reproduce the sensation of the sole during standing posture. These shoes are equipped with triaxial force sensors embedded in the soles at four points, and a roller for reproducing friction force is attached to the tip of an existing linear motion mechanism for reproducing vertical force. The authors also examined the effects of each force on motion estimation.