PITTSBURGH — The Pennsylvania State Police paid $85,000 to settle claims that troopers pepper sprayed and urinated on a woman shackled hand and foot.

Terms of the settlement of 41-year-old Derena Madison’s civil rights lawsuit were reported Friday by a Pittsburgh newspaper.

Madison claimed the incident involved troopers from the Uniontown barracks who arrested her in February 2011 on charges of public drunkenness and disorderly conduct. The troopers denied urinating on Madison and say they used pepper spray because she was being verbally abusive and using racial slurs.