An instrumented shoe to measure vertical foot displacement profile and other gait parameters

Khor Wei Zhong, Darwin Gouwanda

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther


Human foot plays an important role in various activities of daily living and therefore many technologies have been developed to measure and study the dynamic behavior of the foot. This study proposes the use of inertial measurement unit and laser ranging sensors to quantify the vertical foot displacement profile during walking. This profile delineates the position of different parts of the foot e.g. forefoot and rearfoot in every gait cycle. Various relevant gait parameters can then be estimated, including stride length, stride time, duration of swing phase, and the maximum and minimum foot clearances. An optical motion capture system was used here to validate the proposed method, with reflective markers placed directly on the instrumented shoe to obtain similar information. A total of 96 steps were evaluated. The maximum and minimum foot clearances were comparable to results obtained using the optical system. An average error of less than 16 mm was found. The results demonstrated the viability of this approach in quantifying the foot motion during walking. They also indicated the potential of the instrumented shoe in capturing motion in an unconstrained environment.

Original languageEnglish
Title of host publicationProceedings - 2020 IEEE EMBS Conference on Biomedical Engineering and Sciences, IECBES 2020
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages5
ISBN (Electronic)9781728142456
Publication statusPublished - 1 Mar 2021
EventIEEE-EMBS International Conference on Biomedical Engineering and Sciences (IECBES) 2020 - Virtual, Langkawi Island, Malaysia
Duration: 1 Mar 20213 Mar 2021 (Proceedings)


ConferenceIEEE-EMBS International Conference on Biomedical Engineering and Sciences (IECBES) 2020
Abbreviated titleICEBES 2020
CityVirtual, Langkawi Island
Internet address


  • gait parameters
  • inertial measurement unit
  • instrumented shoe
  • laser ranging sensor
  • walking

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