3This study presented a method to estimate the complete ground reaction forces from 4 pressure insoles in walking. Five male subjects performed ten walking trials in a 5 laboratory. The complete ground reaction forces were collected during a right foot 6 stride by a force plate at 1000 Hz. Simultaneous plantar pressure data were collected 7 at 100 Hz by a pressure insole system with 99 sensors covering the whole plantar area. 8Stepwise linear regressions were performed to individually reconstruct the complete 9 ground reaction forces in three directions from the 99 individual pressure data until 10 redundancy among the predictors occurred. An additional linear regression was 11 performed to reconstruct the vertical ground reaction force by the sum of the value of 12 the 99 pressure sensors. Five other subjects performed the same walking test for 13 validation. Estimated ground reaction forces in three directions were calculated with 14 the developed regression models, and were compared with the real data recorded from 15 force plate. Accuracy was represented by the correlation coefficient and the root mean 16 square error. Results showed very good correlation in anterior-posterior (0.928) and 17 vertical (0.989) directions, and reasonable correlation in medial-lateral direction 18 (0.719). The root mean square error was about 12%, 5% and 28% of the peak 19 recorded value. Future studies should aim to generalize the methods or to establish 20 specific methods to other subjects, patients, motions, footwear, and floor conditions. 21The method gives an extra option to study an estimation of the complete ground 22 reaction forces in any environment without the constraints from the number and 23 location of force plates. 24 25