A method and apparatus for sensing the surface contour of the human foot uses an array of sensing pins that are resiliently biased in an extended position by springs. As a foot is pressed down on the pins, a counter counts decrements of vertical movement and therefore generates a count state that corresponds to the relative displacement of the foot in relation to the pins. As each pin contacts the surface of the foot, a control mechanism automatically stores the relative displacement position at which the pin is touched by the foot. These stored values provide a digital representation of the sensed contour of the foot. This digital data may be used to provide a contour image of the foot or select or manufacture shoes or shoe inserts. The contour data may also be used to obtain medical information concerning the shape of the foot.