This thesis presents the design and evaluation of an insole for measurement of the complete ground reaction forces and center of pressure that can be integrated on a balance enhancement system. The insole was prototyped using rubber and a number of small force sensing elements. A calibration procedure was implemented for the sensors to calculate the vertical load and an artificial neural network model was implemented on training data to predict shear loads. Experiments with healthy subjects were conducted to evaluate the performance of the insole on both standing and walking conditions. The results show the insole is capable of measuring the vertical component of the ground reaction force with good accuracy compared to a force plate, and the neural network was able to produce an estimate of the shear forces. The insole is capable of measuring the variations of the center of pressure on different standing and walking conditions.