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

Research output: Contribution to journalArticlepeer-review


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.
Original languageEnglish
Article number747
Number of pages20
Issue number3
Early online date29 Jan 2020
Publication statusPublished - 1 Feb 2020


  • Capacitive sensors
  • Pressure distribution
  • Sensorised insole
  • Tactile sensors array
  • Wearable sensors


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