I think you'll like this. I found this paper sumerized this week on physorg.com of a very simple graphite sensor made by drawing on a piece of paper and attaching wires to the drawing. Then as the paper is bent it produces a very specific digital signature on an AD converter. I've created a video demonstration for it.
This will be a very low tech solution for robotic feedback for feet and joint angle feedback.
It's just a 3 inch long rectangle blaked out with a graphite pencil as described in the paper.
I taped on two wires and plugged them into the AD port 0.