Audio-haptic physically-based simulation of walking on different grounds

We describe a system which simulates in realtime the auditory and haptic sensations of walking on different surfaces. The system is based on a pair of sandals enhanced with pressure sensors and actuators. The pressure sensors detect the interaction force during walking, and control several physically based synthesis algorithms, which drive both the auditory and haptic feedback. The different hardware and software components of the system are described, together with possible uses and possibilities for improvements in future design iterations.