The humanoid robot in the lab
FlexiForce force sensors used for the feet

Bench test setup with power supplies, breadboard and multimeter
Calibration curves of the four sensors with linear fits

Shortened FlexiForce sensor
Layout of four sensors under the foot
Schematic of the four-channel MCP6004 amplifier
Schematic of the ESP32 used for reading the sensors

Chosen PCB location at the back of the calf

Foot sensor mount, version 1
Foot sensor mount, version 1, sole plate with pucks

Foot sensor mount, version 2
Foot sensor mount, version 2, exploded view

Final foot sensor mount, exploded view with studs
Final foot sensor mount with IMU position