Heh heh! No need to get nasty about it, chief! :lol: This is just a possibility. But you've got to admit it will fit your weight requirements and alert you if your motor stalls. The reason I bring it up is it's a common alternative to "dead recoking," and it becomes quite reliable once you've tuned the software to your servo.
It sounds like instead of a "pressure" or torque sensor, you're
really wanting more an "offset sensor" to verify that your servos are really accelerating. Other than the Freescales ice* mentioned, my only suggestion is to use something like an
MTS position sensor. This will probably require a 2D gimble depending on your range of motion, but they are very lightweight.
If you're still interested in leg angle measurement, I'd go with Analog's ADXL202-E. It works on 2 axes with 14 bits of resolution, plus it's 100% fluid free. But...they run about $18 each.