{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T23:49:47Z","timestamp":1774655387607,"version":"3.50.1"},"reference-count":47,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2020,3,6]],"date-time":"2020-03-06T00:00:00Z","timestamp":1583452800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["731931"],"award-info":[{"award-number":["731931"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["287894"],"award-info":[{"award-number":["287894"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004329","name":"Slovenian Research Agency","doi-asserted-by":"publisher","award":["P2-0228"],"award-info":[{"award-number":["P2-0228"]}],"id":[{"id":"10.13039\/501100004329","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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 (CoPAP) 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 CoPAP profiles (Pearson correlation coefficient with force platform \u03c1CoP = 0.96 (0.02)), whereas the correlation with vGRF measured by the force plate was lower than that obtained with the previous prototype (\u03c1vGRF = 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.<\/jats:p>","DOI":"10.3390\/s20051448","type":"journal-article","created":{"date-parts":[[2020,3,6]],"date-time":"2020-03-06T09:26:41Z","timestamp":1583486801000},"page":"1448","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":80,"title":["Pressure-Sensitive Insoles for Real-Time Gait-Related Applications"],"prefix":"10.3390","volume":"20","author":[{"given":"Elena","family":"Martini","sequence":"first","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"}]},{"given":"Tommaso","family":"Fiumalbi","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"}]},{"given":"Filippo","family":"Dell\u2019Agnello","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"}]},{"given":"Zoran","family":"Ivani\u0107","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, University of Ljubljana, 1000 Ljubljana, Slovenia"}]},{"given":"Marko","family":"Munih","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, University of Ljubljana, 1000 Ljubljana, Slovenia"}]},{"given":"Nicola","family":"Vitiello","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"},{"name":"IRCCS Fondazione Don Carlo Gnocchi, 20148 Milan, Italy"},{"name":"Department of Excellence in Robotics &amp; AI, Piazza Martiri della Libert\u00e0, 33\u201356127 Pisa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9833-4401","authenticated-orcid":false,"given":"Simona","family":"Crea","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"},{"name":"IRCCS Fondazione Don Carlo Gnocchi, 20148 Milan, Italy"},{"name":"Department of Excellence in Robotics &amp; AI, Piazza Martiri della Libert\u00e0, 33\u201356127 Pisa, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2020,3,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Park, J., Na, Y., Gu, G., and Kim, J. 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