{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T22:24:50Z","timestamp":1774995890290,"version":"3.50.1"},"reference-count":52,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2019,11,27]],"date-time":"2019-11-27T00:00:00Z","timestamp":1574812800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"The National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51975513"],"award-info":[{"award-number":["51975513"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"The Major Research Plan of National Natural Science Foundation of China","award":["51890884"],"award-info":[{"award-number":["51890884"]}]},{"name":"The Science Fund for Creative Research Groups of the National Natural Science Foundation of China","award":["51821093"],"award-info":[{"award-number":["51821093"]}]},{"name":"The China\u2019s Thousand Talents Plan Young Professionals Program, Robotics Institute of Zhejiang University","award":["K18-508116-008-03"],"award-info":[{"award-number":["K18-508116-008-03"]}]},{"name":"The Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems GZKF-201703","award":["GZKF-201703"],"award-info":[{"award-number":["GZKF-201703"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Gait analysis is an important assessment tool for analyzing vital signals collected from individuals and for providing physical information of the human body, and it is emerging in a diverse range of application scenarios, such as disease diagnosis, fall prevention, rehabilitation, and human\u2013robot interaction. Herein, a kind of surface processed conductive rubber was designed and investigated to develop a pressure-sensitive insole to monitor planar pressure in a real-time manner. Due to a novel surface processing method, the pressure sensor was characterized by stable contact resistance, simple manufacturing, and high mechanical durability. In the experiments, it was demonstrated that the developed pressure sensors were easily assembled with the inkjet-printed electrodes and a flexible substrate as a pressure-sensitive insole while maintaining good sensing performance. Moreover, resistive signals were wirelessly transmitted to computers in real time. By analyzing sampled resistive data combined with the gait information monitored by a visual-based reference system based on machine learning method (k-Nearest Neighbor algorithm), the corresponding relationship between plantar pressure distribution and lower limb joint angles was obtained. Finally, the experimental validation of the ability to accurately divide gait into several phases was conducted, illustrating the potential application of the developed device in healthcare and robotics.<\/jats:p>","DOI":"10.3390\/s19235197","type":"journal-article","created":{"date-parts":[[2019,11,27]],"date-time":"2019-11-27T11:07:00Z","timestamp":1574852820000},"page":"5197","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["Flexible Insole Sensors with Stably Connected Electrodes for Gait Phase Detection"],"prefix":"10.3390","volume":"19","author":[{"given":"Wenzheng","family":"Heng","sequence":"first","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0948-4641","authenticated-orcid":false,"given":"Gaoyang","family":"Pang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Feihong","family":"Xu","sequence":"additional","affiliation":[{"name":"Institute of Mechanical Manufacturing Technology, China Academy of Engineering Physics, Mianyang 621900, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoyan","family":"Huang","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7474-4294","authenticated-orcid":false,"given":"Zhibo","family":"Pang","sequence":"additional","affiliation":[{"name":"ABB Corporate Research Sweden, 72178 Vasteras, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8685-5426","authenticated-orcid":false,"given":"Geng","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,11,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1109\/RBME.2018.2848518","article-title":"Introduction to the Special Section: Convergence of automation technology, biomedical engineering, and health informatics toward the Healthcare 4.0","volume":"11","author":"Pang","year":"2018","journal-title":"IEEE Rev. 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