diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/sensors/footSwitch/JointTorqueBasedFootSwitch.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/sensors/footSwitch/JointTorqueBasedFootSwitch.java
index 51747d1904d..2dd50c532da 100644
--- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/sensors/footSwitch/JointTorqueBasedFootSwitch.java
+++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/sensors/footSwitch/JointTorqueBasedFootSwitch.java
@@ -62,6 +62,7 @@ public JointTorqueBasedFootSwitch(String namePrefix,
                                      DoubleProvider horizontalVelocityThreshold,
                                      DoubleProvider verticalVelocityThreshold,
                                      DoubleProvider verticalVelocityHighThreshold,
+                                     DoubleProvider jacobianDeterminantSingularityThreshold,
                                      BooleanProvider useJacobianTranspose,
                                      YoRegistry parentRegistry)
    {
@@ -115,6 +116,7 @@ public JointTorqueBasedFootSwitch(String namePrefix,
                                                                horizontalVelocityThreshold,
                                                                verticalVelocityThreshold,
                                                                verticalVelocityHighThreshold,
+                                                               jacobianDeterminantSingularityThreshold,
                                                                registry);
 
       parentRegistry.addChild(registry);
@@ -315,6 +317,7 @@ private static class JacobianBasedBasedTouchdownDetector
       private final DoubleProvider horizontalVelocityThreshold;
       private final DoubleProvider verticalVelocityThreshold;
       private final DoubleProvider verticalVelocityHighThreshold;
+      private final DoubleProvider jacobianDeterminantThreshold;
       private final YoBoolean isPastForceThresholdLow;
       private final GlitchFilteredYoBoolean isPastForceThresholdLowFiltered;
       private final YoBoolean isPastForceThresholdHigh;
@@ -322,6 +325,7 @@ private static class JacobianBasedBasedTouchdownDetector
       private final GlitchFilteredYoBoolean hasFootHitGroundFiltered;
       private final GlitchFilteredYoBoolean isPastCoPThresholdFiltered;
 
+      private final YoDouble jacobianDeterminant;
       private final YoDouble copDistance;
       private final YoDouble footForceMagnitude;
       private final YoDouble alphaFootLoadFiltering;
@@ -344,6 +348,7 @@ public JacobianBasedBasedTouchdownDetector(RigidBodyBasics foot,
                                                  DoubleProvider horizontalVelocityThreshold,
                                                  DoubleProvider verticalVelocityThreshold,
                                                  DoubleProvider verticalVelocityHighThreshold,
+                                                 DoubleProvider jacobianDeterminantThreshold,
                                                  YoRegistry registry)
       {
          this.soleFrame = soleFrame;
@@ -355,6 +360,7 @@ public JacobianBasedBasedTouchdownDetector(RigidBodyBasics foot,
          this.horizontalVelocityThreshold = horizontalVelocityThreshold;
          this.verticalVelocityThreshold = verticalVelocityThreshold;
          this.verticalVelocityHighThreshold = verticalVelocityHighThreshold;
+         this.jacobianDeterminantThreshold = jacobianDeterminantThreshold;
 
          legJoints = MultiBodySystemTools.createOneDoFJointPath(pelvis, foot);
 
@@ -392,6 +398,7 @@ public JacobianBasedBasedTouchdownDetector(RigidBodyBasics foot,
 
          footForceMagnitude = new YoDouble(namePrefix + "FootForceMag", registry);
          copDistance = new YoDouble(namePrefix + "CoPDistance", registry);
+         jacobianDeterminant = new YoDouble(namePrefix + "JacobianDeterminant", registry);
 
          alphaFootLoadFiltering = new YoDouble(namePrefix + "AlphaFootLoadFiltering", registry);
          alphaFootLoadFiltering.set(0.1);
@@ -417,6 +424,9 @@ public void calculate()
          jacobianTranspose.reshape(footJacobian.getNumberOfColumns(), 6);
          CommonOps_DDRM.transpose(footJacobian.getJacobianMatrix(), jacobianTranspose);
 
+         // Compute the determinant of the jacobian to help evaluate singular configurations.
+         jacobianDeterminant.set(CommonOps_DDRM.det(jacobianTranspose));
+
          for (int i = 0; i < legJoints.length; i++)
             torqueVector.set(i, 0, legJoints[i].getTau());
 
@@ -491,12 +501,22 @@ private void updateFootSwitch(WrenchReadOnly wrench)
          horizontalVelocity.set(EuclidCoreTools.norm(linearVelocity.getX(), linearVelocity.getY()));
          verticalVelocity.set(linearVelocity.getZ());
 
-         boolean validCoP = isPastCoPThresholdFiltered.getValue();
-         boolean hitGroundLow = isPastForceThresholdLowFiltered.getValue() && validCoP;
-         boolean allowableSpeed = horizontalVelocity.getValue() < horizontalVelocityThreshold.getValue() && Math.abs(verticalVelocity.getValue()) < verticalVelocityThreshold.getValue();
-         boolean allowableHighSpeed = Math.abs(verticalVelocity.getValue()) < verticalVelocityHighThreshold.getValue() ;
+         if (jacobianDeterminant.getDoubleValue() > jacobianDeterminantThreshold.getValue())
+         { // The jacobian determinant is above the threshold, so it's not in a singular configuration
+            boolean validCoP = isPastCoPThresholdFiltered.getValue();
+            boolean hitGroundLow = isPastForceThresholdLowFiltered.getValue() && validCoP;
+            boolean allowableSpeed = horizontalVelocity.getValue() < horizontalVelocityThreshold.getValue()
+                                     && Math.abs(verticalVelocity.getValue()) < verticalVelocityThreshold.getValue();
+            boolean allowableHighSpeed = Math.abs(verticalVelocity.getValue()) < verticalVelocityHighThreshold.getValue();
 
-         hasFootHitGround.set((hitGroundLow && allowableSpeed) || (isPastForceThresholdHigh.getValue() && allowableHighSpeed));
+            hasFootHitGround.set((hitGroundLow && allowableSpeed) || (isPastForceThresholdHigh.getValue() && allowableHighSpeed));
+         }
+         else
+         { // The jacobian determinant is below the threshold, so the system is in a singular configuration. This means the forces can't be trusted.
+            boolean allowableSpeed = horizontalVelocity.getValue() < horizontalVelocityThreshold.getValue()
+                                     && Math.abs(verticalVelocity.getValue()) < verticalVelocityThreshold.getValue();
+            hasFootHitGround.set(allowableSpeed);
+         }
          hasFootHitGroundFiltered.update();
       }
 
diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/sensors/footSwitch/JointTorqueBasedFootSwitchFactory.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/sensors/footSwitch/JointTorqueBasedFootSwitchFactory.java
index aeaca84dc7b..38dc2e84b16 100644
--- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/sensors/footSwitch/JointTorqueBasedFootSwitchFactory.java
+++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/sensors/footSwitch/JointTorqueBasedFootSwitchFactory.java
@@ -3,7 +3,6 @@
 import java.util.Collection;
 
 import us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry;
-import us.ihmc.mecano.frames.MovingReferenceFrame;
 import us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics;
 import us.ihmc.robotics.contactable.ContactablePlaneBody;
 import us.ihmc.robotics.sensors.FootSwitchFactory;
@@ -27,7 +26,8 @@ public class JointTorqueBasedFootSwitchFactory implements FootSwitchFactory
    private boolean defaultUseJacobianTranspose = false;
    private double defaultHorizontalVelocityThreshold = 0.5;
    private double defaultVerticalVelocityThreshold = 0.125;
-   private double defaultVerticalVelocityHighThreshold = 0.5;
+   private double defaultVerticalVelocityHighThreshold = 0.3;
+   private double defaultJacobianDeterminantSingularityThreshold = 2e-3;
 
    private DoubleProvider contactThresholdTorque;
    private DoubleProvider higherContactThresholdTorque;
@@ -38,6 +38,7 @@ public class JointTorqueBasedFootSwitchFactory implements FootSwitchFactory
    private DoubleProvider horizontalVelocityThreshold;
    private DoubleProvider verticalVelocityThreshold;
    private DoubleProvider verticalVelocityHighThreshold;
+   private DoubleProvider jacobianDeterminantSingularityThreshold;
    private YoInteger contactWindowSize;
    private BooleanProvider useJacobianTranspose;
 
@@ -112,6 +113,11 @@ public void setDefaultVerticalVelocityThreshold(double defaultVerticalVelocityTh
       this.defaultVerticalVelocityThreshold = defaultVerticalVelocityThreshold;
    }
 
+   public void setDefaultJacobianDeterminantSingularityThreshold(double defaultJacobianDeterminantSingularityThreshold)
+   {
+      this.defaultJacobianDeterminantSingularityThreshold = defaultJacobianDeterminantSingularityThreshold;
+   }
+
    @Override
    public FootSwitchInterface newFootSwitch(String namePrefix,
                                             ContactablePlaneBody foot,
@@ -136,6 +142,8 @@ public FootSwitchInterface newFootSwitch(String namePrefix,
          verticalVelocityThreshold = new DoubleParameter(namePrefix + "VerticalVelocityThreshold", registry, defaultVerticalVelocityThreshold);
          verticalVelocityHighThreshold = new DoubleParameter(namePrefix + "VerticalVelocityHighThreshold", registry, defaultVerticalVelocityHighThreshold);
          horizontalVelocityThreshold = new DoubleParameter(namePrefix + "HorizontalVelocityThreshold", registry, defaultHorizontalVelocityThreshold);
+         jacobianDeterminantSingularityThreshold = new DoubleParameter(namePrefix + "JacobianDeterminantSingularityThreshold", registry,
+                                                            defaultJacobianDeterminantSingularityThreshold);
       }
 
       return new JointTorqueBasedFootSwitch(namePrefix,
@@ -152,6 +160,7 @@ public FootSwitchInterface newFootSwitch(String namePrefix,
                                             horizontalVelocityThreshold,
                                             verticalVelocityThreshold,
                                             verticalVelocityHighThreshold,
+                                            jacobianDeterminantSingularityThreshold,
                                             useJacobianTranspose,
                                             registry);
    }