Foot Pressure Sensor Installation Guide

Parts Included in Kit

In each kit you get the following:

- FSR Board
- FSR Sensor (4)
- Wire Assembly (2)
- Mounting Screw/Spacer/Nut



Assembly

Step 1 - Disassembly and Prep

Remove the feet from your Bioloid robot, also removing the long bracket attached to each foot. Grooves need to be filed into each foot bracket as indicated in the picture below. These grooves allow clearance for the pressure sensors to feed from the bottom of the feet, up through the grooves in the foot pad to the top side of the foot, where the sensor board will be mounted. The grooves are filed on the "inside" side of the bracket, which is (from the robot's perspective) the left side of the right foot backet, and the right side of the left foot bracket.



Step 2 - Cleaning

Clean the bottom of the Bioloid's feet, specifically in the four keyhole shaped indents, which is where the sensors will go. Alcohol makes a good final cleaner. The sensors have a peel-off backing, and they will only stick to the feet if the recesses where they sit are completely clean.



Step 3 - Apply the Sensors

Be very careful peeling the backing off the backs of the sensor - you want to remove the transparent backing, not the black part. See the following image:



Apply the sensors to the feet, making sure to feed the sensor wire through the groove first. Peel off the backing, and carefully line up the sensor outline with the indent cut into the foot. Press firmly to stick the sensor to the foot.



Step 4 - Mount the Brackets

Re-attach the long brackets to the feet, keeping in mind they should be in the original stock locations, and the grooves in the brackets on the inside side of each foot.



Step 5 - Mount the Board

Attach the board to the foot plate, in the space beside the bracket near the back. On the left foot, the board mounts with the bus plug facing the back of the foot.




On the right foot, the board mounts with the bus plug facing the front of the foot.




Step 6 - Attaching the Cables

Each board has the words "inside" and "outside" marked on the silkscreen, next to the two small 4-pin plug sockets. The inside wire is orange and brown, and plugs into the socket marked "inside". The outside wire is blue and grey, and plugs into the socket marked "outside".

The inside wire should wrap around the back of the long bracket, and go up the small gap on the inside of the foot between the edge of the foot and the bracket. The orange wire plugs into the rear sensor, and the brown wire plugs into the front sensor.

The outside wire connects directly to the outside sensors, with the grey wire plugged into the rear sensor, and the blue wire plugged into the front sensor.