Human-Exoskeleton Physical Interaction during Assisted Walking and the Interaction Portrait Analysis

Cite this article when using the dataset fully or in part.<b>M. Shushtari, J. Foellmer, and A. Arami, "Human-Exoskeleton Interaction Portrait," Journal of NeuroEngineering and Rehabilitation, </b>Volume 21, article number 152, <b>2024.</b>DOI: https://doi.org/10.1186/s12984-024-01447-1For using the video please ask for permission at [e-mail]# Dataset Description: “Human-Exoskeleton Interaction Portrait”<br>This dataset includes experimental data for the paper titled “Human-Exoskeleton Interaction Portrait.”The experiment consisted of three blocks, each involving participants walking on the treadmill with the exoskeleton controlled by one of three different controllers: Time-Based torque Controller (TBC), Hybrid Torque Controller (HTC), or Adaptive Model-Based Torque Controller (AMTC). The order of the blocks was varied among participants to mitigate any potential order effects. Within each block, participants walked {at 0.4, 0.6, and 0.8 m/s, respectively}The data are divided into four modalities:<br>## 1. Exo:- Contains raw exoskeleton data including joint angles, speed, and acceleration for the hip and knee joints of the right and left legs.- Includes actuation torques for each joint and raw data from two IMUs located on each thigh of the exoskeleton.- Sampled at 200 Hz and stored in a Matlab timetable.<br>## 2. EMG:- Measurement data from 16 Delsys EMG sensors.- Envelopes are extracted and resampled to 200 Hz.<br>## 3. Trdml:- Contains Bartek Treadmill speed data along with loadcell measurements.- Includes 3D measurements of ground reaction forces, moments, and center of pressure for each foot.- Resampled to 200 Hz.<br>## 4. Vo2:- Metabolic measurements.<br>## Experiments<br>### Main:- Contains data from the main experiment where each participant walked on a treadmill with an active exoskeleton.- Three different controllers (TBC, HTC, and AMTC) were tested in a random order for each participant.- Each controller was tested at three different speeds (0.4, 0.6, and 0.8 m/s).<br>### NoExo:- Contains data of participants walking on a treadmill without the exoskeleton.- Tested at the same speeds as in the Main experiment.<br>## Abbreviations and Definitions:<br>- **sub:** subject- **r:** right- **l:** left- **x, y, z:** principal 3D axes- **trdml:** treadmill- **spd:** speed- **cntrl_type:** controller type- **q:** joint angles- **dq:** joint speed- **u:** joint torque- **Q:** quaternion- **acc:** acceleration- **gyro:** angular velocity- **GMx:** Gluteus Maximus- **BF:** right leg Bicep Femoris- **RF:** right leg Rectus Femoris- **VM:** right leg Vastus Medialis- **GM:** right leg Gastrocnemius Medialis- **Sol:** right leg Soleus- **TA:** right leg Tibialis Anterior- **GRF:** ground reaction forces- **GRM:** ground reaction moment- **CoP:** center of pressure- **Vo2:** oxygen uptake