Modern rovers rely heavily on visual images and telemetry, such as motor current, to assess the health and safety of the vehicle. Systems lacking in-situ instruments have less ability to assess the interaction between the terrain and the rover mobility system. The barefoot rover wheel carries a payload of an electrochemical impedance spectrometer (EIS), for hydration detection, and is wrapped in a grid of pressure sensors. The pressure grid gives continual context for the pressure signature of the ground underneath the rover. This can be used for high-level detections, like determining the terrain type the rover is operating on, or low-level detections, like determining the slip rate of the wheel. The combination of in-situ terrain and hydration information results in real-time extractions for both science and engineering.