Kinematics, Electromyography, and Human-Robot Interaction Dataset of Assisted Treadmill Walking with an Ankle Exoskeleton

Dataset Description This dataset contains kinematic and electromyographic data from three healthy participants (two males and one female) walking on a treadmill while wearing a right-ankle exoskeleton. The participants walked at three different speeds: 1.0 km/h, 1.3 km/h, and 1.6 km/h. The ankle exoskeleton used in this study is a 1-DoF module of the H2 exoskeleton (Technaid, Spain). It operates under two distinct control modes. Passive Mode: The device does not actively assist but instead follows the user's movements, reacting to minimize interactions and mimicking the natural foot trajectory. Active Mode (Position Control): The device imposes a predefined gait pattern on the ankle by controlling its position. Data Collection and Sensors The dataset includes data recorded from multiple sensors embedded in the exoskeleton, an electromyography (EMG) system, and a motion capture suit: Exoskeleton sensor data: Angular position of the exoskeleton; Reference (set to zero in passive mode; predefined trajectory in active mode); Interaction torque between the exoskeleton and the user; Motor-generated torque; Force-sensitive resistor (FSR) data from sensors embedded in the sole (heel and toe regions). EMG data was acquired using Delsys Trigno system. Surface EMG signals were recorded from two muscles in the right leg: Gastrocnemius Medialis and Tibialis Anterior. EMG data was recorded in RMS mode at 148 Hz and later resampled to 100 Hz. Maximum voluntary contraction (MVC) data for normalization is available in the MetaData.xlsx file. Kinematic Data was acquired with Xsens MTw Awinda Motion Capture Suit. It captured data at 60Hz, that was further interpolated to 100 Hz using MATLAB (linear interpolation with interp1). It includes foot contact data for both legs: RHeel, RToe, LHeel, LToe; and joint angles in the sagittal plane of all lower limb joints: Right and left ankles (RAnkle, LAnkle), right and left knees (RKnee, LKnee), and right and left hips (RHip, LHip). Additional Information Participant information is available in MetaData.xlsx. The dataset is organized into two main structures: passive and active assistance. Each condition is further divided by walking speed (V10, V13, V16). For each walking speed, there are three tables, one for each participant.