Disclosed is a sensory flooring system. The flooring system comprises a plurality of flooring segments and, for each flooring segment, one or more electrode portions. Each electrode portion is responsive to a force applied to the flooring segment and at least one electrode portion of a said flooring segment forms an electrode with at least one electrode portion of another said flooring segment. Moreover, each flooring segment comprises a unique encoding of the one or more electrode portions. Also disclosed is a sensory floor such a sensory flooring system, a receiver for receiving an electrical output from the one or more electrodes formed by said one or more electrode portions of the flooring segments, and a processor for analysing the electrical output and identifying the flooring segment by which the electrical output was produced.