# A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion

> Research article (Sensors, 2021) · cited 13× · AI/ML

**Wikidata**: [openalex:W3188501713](https://www.wikidata.org/wiki/openalex:W3188501713)  
**Source**: https://4ort.xyz/entity/a-flexible-multimodal-sole-sensor-for-legged-robot-sensing-complex-ground-information-during-locomotion