Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


A Reliable, Gyroscope based Gait Phase Detection Sensor Embedded in a Shoe Insole


I. Pappas, T. Keller, S. Mangold

IEEE Sensors, Orlando, Florida, USA, Section 25.3

This paper describes a new gait phase detection sensor (GPDS) and its application together with a functional elec-trical stimulation (FES) system for subjects with a drop-foot walking dysfunction. The gait phase detection sensor (sensors and processing unit) is entirely embedded in a shoe insole and detects in real time four gait phases (events) during the gait cycle: stance, heel-off, swing and heel-strike. The gait phase signal is used in a finite state control scheme to time the electrical stimulation sequences in order to generate a motion in the affected leg that is close to a physiological motion. The GPDS uses a minia-ture gyroscope that measures the rotational velocity of the foot and three force sensitive resistors that measure the force load on the shoe insole. Contrary to other systems using only force sensors, our system can easily differentiate between true walking and weight shifting from one leg to the other during standing. This is achieved through the combination of force sensors and a gyroscope sensor.

Further Information

Type of Publication:


File Download:

Request a copy of this publication.
(Uses JavaScript)
% Autogenerated BibTeX entry
@InProceedings { PapKel:2002:IFA_139,
    author={I. Pappas and T. Keller and S. Mangold},
    title={{A Reliable, Gyroscope based Gait Phase Detection Sensor
	  Embedded in a Shoe Insole}},
    booktitle={IEEE Sensors},
    address={Orlando, Florida, USA},
Permanent link