Abstract
The goal of our study is to develop a virtual walking system using a haptic device on sole of feet. In this paper, we conducted sensory evaluation tests under conditions with various floor surfaces and various shoes. The results show the resolution of sole of feet with shoes is 20〜30mm. Next, we measured plantar pressures while healthy subjects step on difference floor surfaces with various shoes in order to decide required performances of the haptic device. The results show all subjects were able to perceive the differences of the plantar pressure with 1〜4 in the difference of the normalized pressure.
