The invention provides a humanoid foot sole with toe joints, which can detect the vertical pressure of the sole of the foot, and has the characteristics of clear movement mode, simple structure, etc., and a humanoid foot sole mechanism with force perception capability. It includes a forefoot, a rear foot, a force-sensing detection component, a rotating shaft connecting the forefoot and a rear foot, and related transmission components. Each force-sensing detection component includes a cantilever beam, two strain gauges, two bolts, An adjustment nut, a sleeve, a guide block, and an impact-resistant polyurethane rubber block; the rotating shaft connecting the forefoot and the rear foot and related transmission components include a rotating shaft, a bearing, a bearing end seat, a shaft support seat, and a motor seat , gears, synchronous toothed belts, tightening screws, DC motors and reducers, encoders. The invention can realize the rotation of toe joints of a simulated human being, has force perception capability, small size, light weight, compact structure, and is economical and feasible, and is suitable for the design requirements of a humanoid robot foot mechanism.