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Article

A Novel Sensorised Insole for Sensing Feet Pressure Distributions

1
Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, Genoa, Italy
2
iCub Tech at Istituto Italiano di Tecnologia, Via San Quirico 19D, Genoa, Italy
3
Machine Learning and Optimisation, The University of Manchester, Manchester M13 9PL, UK
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(3), 747; https://doi.org/10.3390/s20030747
Received: 31 December 2019 / Revised: 18 January 2020 / Accepted: 27 January 2020 / Published: 29 January 2020
(This article belongs to the Special Issue Sensors for Biomechanics Application)
Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor’s spatial resolution is about 4 taxels/cm 2 in order to have an accurate reconstruction of the contact pressure distribution. As a consequence, the insole provides information such as contact forces, moments, and centre of pressure. To retrieve this information, a calibration technique that fuses measurements from a vacuum chamber and shoes equipped with force/torque sensors is proposed. The validation analysis shows that the best performance achieved a root mean square error (RMSE) of about 7   N for the contact forces and 2   N m for the contact moments when using the force/torque shoe data as ground truth. Thus, the insole may be an alternative to force/torque sensors for certain applications, with a considerably more cost-effective and less invasive hardware. View Full-Text
Keywords: sensorised insole; capacitive sensors; tactile sensors array; wearable sensors; pressure distribution sensorised insole; capacitive sensors; tactile sensors array; wearable sensors; pressure distribution
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MDPI and ACS Style

Sorrentino, I.; Andrade Chavez, F.J.; Latella, C.; Fiorio, L.; Traversaro, S.; Rapetti, L.; Tirupachuri, Y.; Guedelha, N.; Maggiali, M.; Dussoni, S.; Metta, G.; Pucci, D. A Novel Sensorised Insole for Sensing Feet Pressure Distributions. Sensors 2020, 20, 747. https://doi.org/10.3390/s20030747

AMA Style

Sorrentino I, Andrade Chavez FJ, Latella C, Fiorio L, Traversaro S, Rapetti L, Tirupachuri Y, Guedelha N, Maggiali M, Dussoni S, Metta G, Pucci D. A Novel Sensorised Insole for Sensing Feet Pressure Distributions. Sensors. 2020; 20(3):747. https://doi.org/10.3390/s20030747

Chicago/Turabian Style

Sorrentino, Ines, Francisco J. Andrade Chavez, Claudia Latella, Luca Fiorio, Silvio Traversaro, Lorenzo Rapetti, Yeshasvi Tirupachuri, Nuno Guedelha, Marco Maggiali, Simeone Dussoni, Giorgio Metta, and Daniele Pucci. 2020. "A Novel Sensorised Insole for Sensing Feet Pressure Distributions" Sensors 20, no. 3: 747. https://doi.org/10.3390/s20030747

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