TUdatalib : Darmstadt stair ambulation dataset including level walking, stair ascent, stair descent and gait transitions at three stair heights

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dc.contributor.author	Grimmer, Martin
dc.contributor.author	Zhao, Guoping
dc.contributor.author	Zeiss, Julian
dc.contributor.author	Weigand, Florian
dc.contributor.author	Lamm, Sascha
dc.contributor.author	Steil, Martin
dc.contributor.author	Heller, Adrian
dc.date.accessioned	2023-06-20T06:53:03Z
dc.date.available	2023-06-20T06:53:03Z
dc.date.issued	2023-06-01
dc.identifier.uri	https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/3902
dc.identifier.uri	https://doi.org/10.48328/tudatalib-1182
dc.description	The Darmstadt stair ambulation dataset was collected to improve the control and assistance of wearable lower limb robotics. It contains the kinematics, kinetics and electromyographic data (EMG) for transitions between level walking and stair ascent, and between stair ascent and level walking. Further, it contains the data for transitions in between level walking and stair descent, and between stair descent and level walking. Twelve physically unimpaired male subjects with a mean age of 25.4 yrs and a mean weight of 74.6 kg participated in the experiments. A motion capture system was used to capture the body kinematics. Seven force plates were used in two setups to collect the ground reaction forces of eleven strides for the stair ascent and of eleven strides for the stair descent transitions. The center of pressure, the center of mass, joint angles and angular velocities were determined. Further, inverse dynamics were used to determine the lower limb joint moments and the lower limb joint power. Sixteen EMG sensors were used to collect the muscle activity of twelve muscles. As each EMG sensor also contains an inertial measurement unit (IMU), including 3D-Gyroscope, 3D-Accelerometer and 3D-Magnetometer, they were also used to capture the lower limb kinematics in parallel to the motion capture system. Stair ambulation was performed at three stair slopes. The data is provided at different processing levels including raw to fully processed data. The attached documentation will provide details about the data acquisition, the data processing and the provided data structure and format.	de_DE
dc.language.iso	en	de_DE
dc.relation	IsDescribedBy;URL;https://doi.org/10.1371/journal.pone.0239148
dc.rights	Creative Commons Attribution 4.0
dc.rights.uri	https://creativecommons.org/licenses/by/4.0/
dc.subject	stair	de_DE
dc.subject	biomechanics	de_DE
dc.subject	walking	de_DE
dc.subject	transitions	de_DE
dc.subject	ascent	de_DE
dc.subject	descent	de_DE
dc.subject	gait	de_DE
dc.subject	locomotion	de_DE
dc.subject	angle	de_DE
dc.subject	moment	de_DE
dc.subject	power	de_DE
dc.subject	joint	de_DE
dc.subject	center of mass	de_DE
dc.subject	center of pressure	de_DE
dc.subject.classification	4.41-01 Automatisierungstechnik, Mechatronik, Regelungssysteme, Intelligente Technische Systeme, Robotik	de_DE
dc.subject.classification	4.41-05 Arbeitswissenschaft, Ergonomie, Mensch-Maschine-Systeme	de_DE
dc.subject.ddc	620
dc.subject.ddc	621.3
dc.title	Darmstadt stair ambulation dataset including level walking, stair ascent, stair descent and gait transitions at three stair heights	de_DE
dc.type	Dataset	de_DE
dc.type	Software	de_DE
dc.description.version	Version 1.0	de_DE
tud.project	DFG \| GR4689/3-1 \| Robuste phasenbasier	de_DE
tud.project	DFG \| KO1876/15-1 \| Robuste phasenbasier	de_DE
tud.unit	TUDa
tud.history.classification	Version=2020-2024;407-01 Automatisierungstechnik, Regelungssysteme, Robotik, Mechatronik, Cyber Physical Systems
tud.history.classification	Version=2020-2024;407-05 Arbeitswissenschaft, Ergonomie, Mensch-Maschine-Systeme