Ground reaction force sensing is one of the key components of gait analysis in legged locomotion research. To measure continuous force data during locomotion, we present a novel compound instrumented treadmill design. The treadmill is 1.7m long, with a natural frequency of 170Hz and an adjustable range that can be used for humans and small robots alike. Here, we present the treadmill's design methodology and characterize it in its natural frequency, noise behavior and real-life performance. Additionally, we apply an ISO 376 norm conform calibration procedure for all spatial force directions and center of pressure position. We achieve a force accuracy of $\leq$5.6N for the ground reaction forces and $\leq$13mm in center of pressure position.

翻译：地面反作用力传感是腿式运动研究中步态分析的关键组成部分。为测量运动过程中的连续力数据，我们提出了一种新型复合式仪器化跑步机设计。该跑步机长1.7米，固有频率为170赫兹，并具有可调量程，能够同时适用于人类和小型机器人。本文介绍了跑步机的设计方法，并从固有频率、噪声特性及实际性能三个维度对其进行表征。此外，我们采用符合ISO 376标准的校准程序，对所有空间力方向及压力中心位置进行了标定。最终实现的力精度为地面反作用力$\leq$5.6N，压力中心位置$\leq$13mm。