IMU dataset of lower limb prosthetic users traversing real-world terrain with and without a walking aid

This dataset contains inertial measurement unit (IMU) data from twenty lower limb prosthetic users (11 transtibial, 8 transfemoral and one bilateral transtibial right leg transfemoral left leg) traversing real-world terrain (flat ground, stairs, slopes, grass, uneven terrain, unstable terrain) with and without a walking aid. Data from four body worn IMUs (prosthetic shank, prosthetic thigh, trunk, other shank) was collected for this dataset.
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The data was recorded at 100Hz and the data in the dataset has not been filtered. Datafiles have been synchronised and trimmed to only include valid steps. Individual strides have been identified in the datafiles and the terrain label for each stride as well as identifying turn steps are also included. Strides were identified using peaks of the rate of turn along the medio-lateral direction of the prosthetic shank.