An expression shoe includes a pedal, a base, and a bearing arrangement rotatably connecting the pedal to the base. A sensor arrangement produces a senor signal corresponding to a rotational position of the pedal with respect to the base. The sensor includes a hall-effect sensor mounted to one of the pedal and the base and a magnetic field producing device mounted to the other of the pedal and the base for producing a linear output signal in response to movement of the pedal relative to the base.