{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T16:44:17Z","timestamp":1781973857831,"version":"3.54.5"},"reference-count":38,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,1,29]],"date-time":"2020-01-29T00:00:00Z","timestamp":1580256000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100010661","name":"Horizon 2020 Framework Programme","doi-asserted-by":"publisher","award":["731540"],"award-info":[{"award-number":["731540"]}],"id":[{"id":"10.13039\/100010661","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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\u2019s 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 \u00a0 N     for the contact forces and     2 \u00a0 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.<\/jats:p>","DOI":"10.3390\/s20030747","type":"journal-article","created":{"date-parts":[[2020,1,29]],"date-time":"2020-01-29T10:51:07Z","timestamp":1580295067000},"page":"747","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":38,"title":["A Novel Sensorised Insole for Sensing Feet Pressure Distributions"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0434-7568","authenticated-orcid":false,"given":"Ines","family":"Sorrentino","sequence":"first","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3267-1752","authenticated-orcid":false,"given":"Francisco Javier","family":"Andrade Chavez","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4792-4588","authenticated-orcid":false,"given":"Claudia","family":"Latella","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1424-8341","authenticated-orcid":false,"given":"Luca","family":"Fiorio","sequence":"additional","affiliation":[{"name":"iCub Tech at Istituto Italiano di 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UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0467-0074","authenticated-orcid":false,"given":"Yeshasvi","family":"Tirupachuri","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nuno","family":"Guedelha","sequence":"additional","affiliation":[{"name":"Dynamic Interaction Control at Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico 19D, Genoa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6142-5545","authenticated-orcid":false,"given":"Marco","family":"Maggiali","sequence":"additional","affiliation":[{"name":"iCub Tech at Istituto Italiano di Tecnologia, Via San Quirico 19D, Genoa, 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