Regional 3-axis plantar forces during stair ascent

We proposed the measurement method of plantar force distribution during barefoot walking. 3-axis sensors were fabricated and attached on the sole of the foot. The sensors were so small, light and thin that we were able to measure the forces without interfering in the barefoot condition. Combining these sensors with wireless measurement system, we measured 3-axis plantar force distribution during level walking and stair ascent (Fig. 1). From these measurement results, we calculated zero moment point (ZMP): important index of robot walking. These results indicate that the proposed method can be suitable to analyze the mechanisms of barefoot walking.