Data of Coordinated human-exoskeleton locomotion emerges from regulating virtual energy
Experiment data used in "Coordinated Human-Exoskeleton Locomotion Emerges from Regulating Virtual Energy".
This dataset contains data of two experiments:
Experiment 1:virtual energy regulator performance analysis: subj1-9
Experiment 2: comparison between phase based path and virtual energy regulator controllers: sub10-12
This dataset contains EMG, kinematics and ground reaction force measurements of non-disabled young adults walking with Indego Explorer exoskeleton equipped with Virtual Energy Regulator (VER) controller as well as walking with passive exoskeleton and without exoskeletons (Experiment 1). This includes walking on treadmill at the speeds of 0.6, 0.75 and 0.85 m/s.
To read the experiment protocol and details, please check the paper below.
Also in case of using the dataset, proposed metrics or VER you should cite the same paper:
R. Nasiri, H. Dinovitzer, N. Manohara and A. Arami, "Coordinated Human-Exoskeleton Locomotion Emerges from Regulating Virtual Energy," Plos One 2024.
Any questions can be sent to aarami@uwaterloo.ca
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The dataset keywords:
sub_i: refers to i-th subject
v1, v2, and v3 refer to low (0.6 m/s), mid (0.75 m/s), and high (0.85 m/s) treadmill speeds.
marker: body marker position raw data (100 Hz)
imu: imu sensor raw data (200 Hz)
emg: raw electromyography data (2000 Hz)
grf: ground reaction force raw data (1000 Hz)
exo: exoskeleton recorded raw data (position, velocity, and applied torque)
exo: exoskeleton recorded raw data (thigh imu-gyroscope, thigh imu-accelerometer, joint position, joint velocity, and motor applied torque) recorded by Indego Explorer exoskeleton (200 Hz)
no-grf: the folder does not contain grf data
noexo: no exoskeleton data (data recorded without exoskeleton, it is normal walking)
noexo files starts with low(0.6 m/s) speed, continuous with mid(0.75 m/s) speed, and ends with high(0.85 m/s) speed.
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Trigno sensor location:
1 - right leg Rectus Femoris (RF)
2 - right leg Soleus (SOL)
3 - right leg Vastus Medialis (VAS)
4 - right leg Tibialis Anterior (TA)
5 - right leg Tensor Fasciae Latae (TF)
6 - right leg Biceps Femoris (BF)
7 - right leg Gastrocnemius Medialis (GAS)
8 - right leg Gluteus Maximus (GLU)
9 - left leg Rectus Femoris (RF)
10- left leg Soleus (SOL)
11- left leg Vastus Medialis (VM)
12- left leg Tibialis Anterior (TA)
13- left leg Tensor Fasciae Latae (TF)
14- left leg Biceps Femoris (BF)
15- left leg Gastrocnemius Medialis (GAS)
16- left leg Gluteus Maximus (GLU)
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Marker descriptions:
The marker positions are selected according to lower limb plugin model with 16 markers described in:
Vicon PLUG-IN GAIT REFERENCE GUIDE
Download Link: https://docs.vicon.com/download/attachments/133828966/Plug-in Gait Reference Guide.pdf?version=2&modificationDate=1637681079000&api=v2
LASI: Left ASIS - Left anterior superior iliac spine
RASI: Right ASIS - Right anterior superior iliac spine
LPSI: Left PSIS - Left posterior superior iliac spine (immediately below the sacro-iliac joints, at the point where the spine joins the pelvis)
RPSI: Right PSIS - Right posterior superior iliac spine (immediately below the sacro-iliac joints, at the point where the spine joins the pelvis)
LTHI: Left thigh - Over the lower lateral 1/3 surface of the left thigh
LKNE: Left knee - On the flexion-extension axis of the left knee
LTIB: Left tibia - Over the lower 1/3 surface of the left shank
LANK: Left ankle - On the lateral malleolus along an imaginary line that passes through the transmalleolar axis
LHEE: Left heel - On the calcaneous at the same height above the plantar surface of the foot as the toe marker
LTOE: Left toe - Over the second metatarsal head, on the mid-foot side of the equinus break between fore-foot and mid-foot
RTHI: Right thigh - Over the upper lateral 1/3 surface of the right thigh
RKNE: Right knee - On the flexion-extension axis of the right knee.
RTIB: Right tibia - Over the upper 1/3 surface of the right shank
RANK: Right ankle - On the lateral malleolus along an imaginary line that passes through the transmalleolar axis
RHEE: Right heel - On the calcaneous at the same height above the plantar surface of the foot as the toe marker
RTOE: Right toe - Over the second metatarsal head, on the mid-foot side of the equinus break between fore-foot and mid-foot
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Exoskeleton data description:
Experiment 1 (virtual energy regulator performance analysis):
subj1-9
Exoskeleton recorded data:
Positions are recoded in degrees, velocities are recorded in degrees/s, and torque are recorded in Nm
QHL: left hip flexion angle (deg), QHR: right hip flexion angle (deg), QKR: right knee flexion angle (deg), QKL: left knee flexion angle (deg),
WHR: right hip flexion velocity (deg/s), WHL: left hip flexion velocity (deg/s), WKR: right knee flexion velocity (deg/s), WKL: left knee flexion velocity (deg/s),
FHR: right hip flexion moment (Nm), FHL: left hip flexion moment (Nm), FKR: right knee flexion moment (Nm), FKL: left knee flexion moment (Nm),
EHL: left hip virtual energy, EHR: right hip virtual energy, EKR: right knee virtual energy, EKL: left knee virtual energy
GYR: right gyroscope values (x, y, z), GYL: left gyroscope values (x, y, z), ACR: right accelerometer values (x, y, z), ACL: left accelerometer values (x, y, z)
Experiment conditions:
1 - ctrl_en = 0 is passive condition (exoskeleton applies no torque)
2 - ctrl_en = 1 is active condition (exoskeleton applies torque based on virtual energy regulator control rule)
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Exoskeleton data description:
Experiment 2 data (comparison between phase based path and virtual energy regulator controllers):
sub10-12
Exoskeleton recorded data:
Pos: flexion angle (deg), Vel: flexion velocity (deg/s), Tor: flexion moment (Nm), Ene: virtual energy, Vir: desired virtual energy,
hr: right hip, hl: left hip, kr: right knee, kl: left knee, Phase: VER limit cycle phase
Experiment conditions:
1 - ctrl_type = 1 is when virtual energy regulator controller is in the control loop
2 - ctrl_type = 2 is when phase based path controller is in the control loop
3 - ctrl_type = 3 is a state dependent disturbance
4 - ctrl_type = 0 is passive condition
