3D Printed Graded Porous Sensors for Soft Sensorized Insoles with Gait Phase & Ground Reaction Forces Estimation

Abstract

Sensorized insoles provide a tool to perform gait studies and health monitoring during daily life. These sensorized insoles need to be comfortable and lightweight to be accepted. Previous work has already demonstrated that sensorized insoles are possible and can estimate both ground reaction force and gait cycle. However, these are often assemblies of commercial components restricting design freedom and flexibility. Within this work, we investigate the feasibility of using four 3D-printed porous (foam-like) piezoresistive sensors embedded in a commercial insole. These sensors were evaluated using an instrumented treadmill as the golden standard. It was observed that the four sensors behaved in line with the expected change in pressure distribution during the gait cycle. In addition, Hammerstein-Wiener models were identified that were capable of estimating the vertical and mediolateral ground reaction forces (GRFs). Their NRMSE fits were on average 82% and 73%, respectively. Similarly, for the averaged gait cycle the R 2 values were 0.98 and 0.99 with normalized RMS errors overall below 6%. These values were comparable with other insoles based on commercial force sensing resistors but at a significantly lower cost (over four times cheaper). Thereby indicating that our 3D-printed sensors can be an interesting option for sensorized insoles. The advantage of 3D printing these sensors is that it allows for significantly more design freedom, reduces assembly, and is cheaper. However, further research is needed to exploit this design freedom for complex sensors, estimate the anteroposterior GRF, and fully 3D print the entire insole.

Ground Contact Force and Moment Estimation for Human–Exoskeleton Systems Using Dynamic Decoupled Coordinate System and Minimum Energy Hypothesis

“…Generally, dynamics-modeling-based methods calculate the moments of exoskeletons' joints according to the contact forces and moments (CFMs) as well as inverse dynamics [11][12][13][14]. CFMs can be detected using well-designed high-precision force sensors [15][16][17][18][19]. However, comfortable, portable, and high-precision force sensors for measuring these CFMs are difficult to design and manufacture [20][21][22][23].…”