A Novel Sensorised Insole for Sensing Feet Pressure Distributions

Research output: Contribution to journalArticlepeer-review

  • External authors:
  • Francisco Javier Andrade Chavez
  • Claudia Latella
  • Luca Fiorio
  • Silvio Traversaro
  • Yeshasvi Tirupachuri
  • Nuno Guedelha
  • Marco Maggiali
  • Simeone Dussoni
  • Giorgio Metta
  • Daniele Pucci


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 Nm 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.

Bibliographical metadata

Original languageEnglish
Article number747
Number of pages20
Issue number3
Publication statusPublished - 29 Jan 2020