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arXiv · 1910.06370

A Novel Sensorised Insole for Sensing Feet Pressure Distributions

Ines Sorrentino·Francisco Javier Andrade Chavez·Claudia Latella·Luca Fiorio·Silvio Traversaro·Lorenzo Rapetti·Yeshasvi Tirupachuri·Nuno Guedelha·Marco Maggiali·Simeone Dussoni·Giorgio Metta·Daniele Pucci
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Abstract

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 center 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.

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Ines Sorrentino, Francisco Javier Andrade Chavez, Claudia Latella, Luca Fiorio, Silvio Traversaro, Lorenzo Rapetti, Yeshasvi Tirupachuri, Nuno Guedelha, Marco Maggiali, Simeone Dussoni, Giorgio Metta, Daniele Pucci. 2019-10-14. A Novel Sensorised Insole for Sensing Feet Pressure Distributions. https://doi.org/10.3390/s20030747

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