The Foot contains eight pressure sensors:
Six pressure sensors on the sole of the Foot are arranged in a 2×3 grid pattern along the perimeter.
Two pressure sensors on the toe, sufficient to accurately determine the planar force vector when the Foot kicks an object.
Associated with each pressure sensor is a bright blue LED that activates at a configureable pressure threshold. A considerable light show can be had by simply having the robot walk.
There are only two electrical interfaces:
4 wire I2C (clock, data, power, ground) for communication and control.
Atmel® programming header (only needed by users that wish to change the default programming of the Foot).
Operational communication is through the I2C bus. The host master command - Foot response message interface is fully documented and comes preloaded on the Foot. In typical use, the SkewlZone Brain-Pack µprocessor reads the 8 pressure sensor (filtered) values periodically and factors the data into the current robot dynamics and behaviors.
Mechanically, the Foot is enclosed in frosty-white plastic with moderate friction plastic rubber on the bottom of the sole and the front of the toe. Various fasteners are also supplied for specific robots.

Mechanically Supported Robots:
Kondo KHR-2HV, KHR-1HV
Kyosho MANOI AT01
Hitec Robonova
KumoTek KT-X
Robotis Bioloid