Table 1.

Comparison of the state-of-the-art design of wearable sensors for gait phase detection.

Sensor Type	Authors	Design Features	References
Optoelectronic sensors	Crea et al.	An insole with shading structures used optoelectronic signal to detect pressure	[38]
Inertial sensors	Ding et al.	The inertial measurement unit was attached onto the anterior surface of a shoe and measured the three-axis angular velocity and the acceleration of the foot	[10]
Electromyography (EMG) sensors	Joshi et al.	The reflective markers were attached on limbs to detect the EMG signal	[15]
Multi-axis force sensors	Lind et al.	Unique multi-axis foot force/torque sensors were integrated into a military style boot to measure the forces on the human foot	[39]
Conductive rubbers	Saito et al.	The flexible conductive rubber sensors were fixed to the insole with traditional circuit for electrical connection	[30]
	Our work	Conductive rubber sensors processed by laser cutting were fixed on flexible insoles.