Flexible force-sensing system for wearable exoskeleton using liquid pressure detection

A gait monitoring system based on liquid pressure detection was designed. In this work, based on the study of the plantar pressure distribution, a special cylindrical liquid cavity was located under the foot. For the actual application of an exoskeleton, the human foot is curved by uneven terrain in the alternation of the support and swinging phases. To measure the pressure distribution of the sole over a large measurement range, shoes also need to be flexible. By measuring the fluid pressure, the plantar pressure distribution can be detected during human walking. Assuming sufficient flexibility, this approach could ensure the stable measurement on uneven terrain for the exoskeleton.