Lower-limb Kinematics and Kinetics During Continuously Varying Human Locomotion

This dataset reports the lower-limb kinematics and kinetics of ten able-bodied subjects walking at multiple inclines (± 0°, 5°, and 10°) and speeds (0.8 m/s, 1 m/s, and 1.2 m/s), running over level-ground at multiple speeds (1.8 m/s, 2 m/s, 2.2 m/s, and 2.4 m/s), walking and running with constant acceleration and deceleration (± 0.2 m/s2, and 0.5 m/s2), and stair ascent/descent with multiple stair inclines (± 20°, 25°, 30°, and 35°). 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. This dataset can aid in the development of kinematic models of multi-activity human locomotion and the design and control of agile wearable robots.