Wearable ground reaction force (GRF) measurement systems make it possible to measure the GRF in any environment, unlike a commercial force plate. When performing kinetic analysis with the GRF, measurement of multiaxial GRF is important for evaluating forward and lateral motion during natural gait. In this paper, we propose a bendable GRF measurement system that can measure biaxial (vertical and anterior-posterior) GRF without interrupting the natural gait. Eight custom small biaxial force sensors based on an optical sensing mechanism were installed in the proposed system. The interference between two axes on the custom sensor was minimized by the independent application of a cantilever structure for the two axes, and the hysteresis and repeatability of the custom sensor were investigated. After developing the system by the installation of force sensors, we found that the degree of flexibility of the developed system was comparable to that of regular shoes by investigating the forefoot bending stiffness. Finally, we compared vertical GRF (vGRF) and anterior-posterior GRF (apGRF) measured from the developed system and force plate at the same time when the six subjects walked, ran, and jumped on the force plate to evaluate the performance of the GRF measurement system.
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