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.