20.500.12556/RUL-133222 Pressure-sensitive insoles for real-time gait-related applications Wearable robotic devices require sensors and algorithms that can recognize the user state in real-time, in order to provide synergistic action with the body. For devices intended for locomotion-related applications, shoe-embedded sensors are a common and convenient choice, potentially advantageous for performing gait assessment in real-world environments. In this work, we present the development of a pair of pressure-sensitive insoles based on optoelectronic sensors for the real-time estimation of temporal gait parameters. The new design makes use of a simplified sensor configuration that preserves the time accuracy of gait event detection relative to previous prototypes. The system has been assessed relatively to a commercial force plate recording the vertical component of the ground reaction force (vGRF) and the coordinate of the center of pressure along the so-called progression or antero-posterior plane (CoP$_{AP}$) in ten healthy participants during ground-level walking at two speeds. The insoles showed overall median absolute errors (MAE) of 0.06 (0.02) s and 0.04 (0.02) s for heel-strike and toe-off recognition, respectively. Moreover, they enabled reasonably accurate estimations of the stance phase duration (2.02 (2.03) % error) and CoP$_{AP}$ profiles (Pearson correlation coefficient with force platform ρCoP = 0.96 (0.02)), whereas the correlation with vGRF measured by the force plate was lower than that obtained with the previous prototype ($_{ρv}$GRF = 0.47 (0.20)). These results confirm the suitability of the insoles for online sensing purposes such as timely gait phase estimation and discrete event recognition. optoelectronic sensors wearable sensors sensorized insole plantar pressure distribution real-time gait monitoring robot control optoelektronski senzorji nosljivi senzorji senzorski vložek porazdelitev podpornega tlaka sprotno spremljanje hoje vodenje robotov true false true Angleški jezik Slovenski jezik Članek v reviji 2021-11-17 14:57:21 2021-11-17 14:57:23 2022-09-12 04:15:25 0000-00-00 00:00:00 2020 0 0 15 str. iss. 5, art. 1448 Vol. 20 Mar. 2020 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.586:615.8 1424-8220 10.3390/s20051448 20038403 RAZ_Martini_Elena_2020.pdf RAZ_Martini_Elena_2020.pdf 1 FD82E50D6F344534331D80D9CC0CE31B 7515c6aa83b3d0937994e67f63bda4495907b946c28cbc4f4cdbdeefa27cd4d7 894275d1-47ae-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=151115 https://www.mdpi.com/1424-8220/20/5/1448 1 38740757-47ae-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=151114 Fakulteta za elektrotehniko 0 0 0