Data

Experimental Datasets


Effects of a Powered Knee-Ankle Prosthesis on Amputee Hip Compensations: A Case Series

This dataset was collected to investigate the effects of a robotic prosthetic leg on amputee hip compensations during level-ground treadmill walking experiments. The dataset specifically contains data relating to Vicon (human lower-limb kinematics and kinetics), EMG, and robotic prosthetic data from an experimental protocol approved by the Institutional Review Board at the University of Texas at Dallas. Three subjects each walked on a Bertec instrumented treadmill for approximately 60 seconds with their day-to-day passive prosthesis and the powered prosthesis at their self-selected slow, normal, and fast walking speeds, resulting in a total of 6 walking trials per subject. During each trial, a 10-camera Vicon motion capture system recorded leg kinematics, while force plates in the Bertec treadmill recorded ground reaction forces, and a Delsys Trigno EMG system recorded muscle activation. The collected data has been divided into strides, and is interpolated to contain 100 points per stride. Strides begin at heel contact. Gait kinetics have been normalized by user mass. This dataset is associated with the article:
T. Elery, S. Rezazadeh, E. Reznick, L. Gray, and R. Gregg, "Effects of a Powered Knee-Ankle Prosthesis on Amputee Hip Compensations: A Case Series," IEEE Transactions on Neural Systems and Rehabilitation Engineering, under review.

Human Leg Kinematics, Kinetics, and EMG During Quasi-random, Phase-shifting, Treadmill Perturbations at Varying Inclines

This dataset contains joint kinematics, kinetics, and EMG activity from an experimental protocol approved by the Institutional Review Board at the University of Texas at Dallas. This data was collected to evaluate the robustness of different parameterization variables during perturbations for application in robotic prosthetic legs. Ten able-bodied subjects self-selected a comfortable speed for walking on level (0 degree), +5 degree, and -5 degree inclines. Subjects walked at the self-selected speed for a minute without perturbations to produce a control dataset of unperturbed kinematics. From this control data, the average stance time was calculated for each subject to define a normalized time window between 0 and 80% of stance. Then, 100 uniformly distributed times were sampled from this window to determine the perturbation onset times, i.e., the amount of delay between heel strike and perturbation onset. For perturbation trials, subjects walked at the same speed for 20-25 minutes, broken into 5 sets of 4-5 minutes for each slope. During each trial, a 10-camera Vicon motion capture system recorded leg kinematics, while force plates in a Bertec split-belt treadmill recorded ground reaction forces, and a Delsys Trigno EMG system recorded muscle activation of the rectus femoris, biceps femoris, tibialis anterior, and gastrocnemius. This dataset is associated with the article:
R. Macaluso, K. Embry, D. Villarreal, R. Gregg, "Parameterizing Human Locomotion Across Quasi-Random Treadmill Perturbations and Inclines," under review.

The Effect of Walking Incline and Speed on Human Leg Kinematics, Kinetics, and EMG

This dataset contains leg joint kinematics, kinetics, and EMG activity from an experimental protocol approved by the Institutional Review Board at the University of Texas at Dallas. Ten able-bodied subjects walked at steady speeds and inclines on a Bertec instrumented treadmill for one minute per trial. Each subject walked at every combination of the speeds 0.8 m/s, 1.0 m/s, and 1.2 m/s and inclines from -10 degrees to +10 degrees at 2.5 degree increments, for a total of 27 trials. During each trial, a 10-camera Vicon motion capture system recorded leg kinematics, while force plates in the Bertec treadmill recorded ground reaction forces, and a Delsys Trigno EMG system recorded muscle activation of the rectus femoris, biceps femoris, tibialis anterior, and gastrocnemius. This data can be used to test many hypotheses and models of human locomotion at varying speeds and inclines. This kinematic data has been used to train a predictive model that represents gait kinematics as a continuous function of gait cycle percentage, incline, and speed in the article:
K. Embry, D. Villarreal, R. Macaluso, and R. Gregg, "Modeling the Kinematics of Human Locomotion over Continuously Varying Speeds and Inclines," IEEE Transactions on Neural Systems and Rehabilitation Engineering, 26(12): 2342-2350, 2018.

Data from: A Perturbation Mechanism for Investigations of Phase-Dependent Behavior in Human Locomotion

The dataset contains sagittal-plane leg joint kinematics, ground reaction forces, and EMG activity from one stride starting at heel strike on the perturbation platform, which randomly moved the stance foot in the anterior or posterior direction. These perturbations effected a phase shift in the gait cycle without substantially deviating from the nominal kinematic orbits of the leg joints. Only the right leg of each subject was perturbed, but both legs' kinematics are recorded. This data can be used to test different hypotheses and models of human locomotor control.

Data from: Evidence for a Time-invariant Phase Variable in Human Ankle Control

The data contained herein includes kinetic and kinematic data acquired during walking trials, while a subject walked a across a walkway. A perturbation device was recessed into the walkway and randomly applied a two or five degree incline perturbation to the ankle as subjects walked across the platform. The perturbations occurred at one of four timing intervals, namely 100, 225, 350 and 475 ms following heel strike. During each trial, subject ankle angle and ground reaction force data were acquired, including location of the center of pressure for each subject.


Software


MATLAB Code for Biped Walker Simulation

This MATLAB package contains a simulation of an autonomous biped walker. This walker has mass and dimensions proportions similar to that of a human. It models the physics of the system using 2nd order differential equations. The derivation of the equations in Mathematica are included. There is a set-point Proportional-Derivative control (i.e., joint impedance) that drives the joints of the biped so that it walks stably down a shallow slope. This software can be useful for researchers looking for simulating controllers for autonomous bipeds, prosthetic legs, and/or exoskeletons.


CAD Designs


Coming soon!