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Open AccessArticle

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; Andrade Chavez, Francisco J.; Latella, Claudia; Fiorio, Luca; Traversaro, Silvio; Rapetti, Lorenzo; Tirupachuri, Yeshasvi; Guedelha, Nuno; Maggiali, Marco; Dussoni, Simeone; Metta, Giorgio; Pucci, Daniele. 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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