Continuous force measurement can provide valuable insight to the efficacy of limb loading regimes during fracture rehabilitation. Currently there is no load monitoring device that is capable of more than 1 h of continuous recording. To enable continuous underfoot load monitoring a piezoresistive pressure sensor was encapsulated in a non-compressible silicone gel. This basic approach to signal transduction was implemented in three continuous underfoot load sensor designs. Design I constrained the gel in a rigid urethane housing. Design II constrained the gel in a silicone elastomer bladder. Design III utilized a hybrid approach by constraining the gel with a rigid upperplate inside of an elastomeric bladder. All three designs were subjected to bench and human testing. Design I outperformed the other two designs showing high linearity (correlation coefficient of 1), low static drift (<1%) and low dynamic drift (<3%) and captured the largest percentage of weight during human testing (35%). The sensor was designed, tested and shown to be durable and accurate for a 2 week window of time. This sensor has the low cost and high performance required for large scale clinical tests to correlate limb loading and fracture healing rates.