Lower-limb kinematics and kinetics during continuously varying human locomotion

TL;DR

This paper introduces a comprehensive dataset capturing lower-limb kinematics and kinetics across various human locomotion activities, including transitions and continuous variations in speed and incline, to aid in developing assistive robotic devices.

Contribution

It provides a new, detailed dataset of human lower-limb movements during diverse activities and transitions, filling gaps in existing data for assistive device development.

Findings

Dataset includes multiple activities, inclines, and speeds.

Captures transitions between walking, running, and stair climbing.

Recorded with motion capture and instrumented treadmill.

Abstract

Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and kinetics of the lower limbs during continuously varying locomotion is fundamental to developing robotic prostheses and exoskeletons that assist in community ambulation. However, available datasets on human locomotion neglect transitions between activities and/or continuous variations in speed and inclination during these activities. This data paper reports a new dataset that includes the lower-limb kinematics and kinetics of ten able-bodied participants walking at multiple inclines ($\pm$ 0, 5, 10 $^{\circ}$) and speeds (0.8, 1, 1.2 m/s), running at multiple speeds (1.8, 2, 2.2, 2.4 m/s), walking and running with constant acceleration ($\pm$ 0.2, 0.5 $\text{m/s^2}$), and stair ascent/descent with multiple stair inclines (20, 25, 30, 35 $^{\circ}$). This dataset also includes sit-stand transitions, walk-run transitions, and walk-stairs transitions. Data were recorded by a Vicon motion capture system and, for applicable tasks, a Bertec instrumented treadmill.