3D-Printed Robust Ground Contact Sensors for Haptic Feedback Using Functional Materials

When navigating challenging, uneven terrain, walking robots must rely on reliable sensory feedback. Detection of ground contact has proven sufficient for controlling and coordinating movements. In this paper, we present a novel, cost-effective 3D-printed foot contact sensor designed to enhance proprioceptive capabilities in small legged robots. We introduce a fully 3D-printed design that incorporates the switching mechanism itself, utilizing multiple materials including conductive ones. This approach facilitates easy assembly and produces robust signals without the need for additional processing requirements. We compare various sensor designs to a baseline, highlighting improvements in responsiveness, ease of integration, and cost-effectiveness.