Coordinated Human-Exoskeleton Locomotion Emerges from Regulating Virtual Energy

Experiment raw data for "Coordinated Human-Exoskeleton Locomotion Emerges from Regulating Virtual Energy".To read the experiment protocol and details, please check the paper.%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%The dataset keywords:sub_i: refers to i-th subjectv1, v2, and v3 refer to low, mid, and high treadmill speeds.marker: body marker position raw dataimu: imu sensor raw dataemg: raw electromyography datagrf: ground reaction force raw dataexo: exoskeleton recorded raw data (position, velocity, and applied torque)noexo: no exoskeleton data (data recorded without exoskeleton, it is normal walking)no-grf: the folder does not contain grf data%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Experiment 1 (virtual energy regulator performance analysis):Exoskeleton recorded data:QHL: left hip position, QHR: right hip position, QKR: right knee position, QKL: left knee position, WHR: right hip velocity, WHL: left hip velocity, WKR: right knee velocity, WKL: left knee velocity, FHR: right hip torque, FHL: left hip torque, FKR: right knee torque, FKL: left knee torque, EHL: left hip energy, EHR: right hip energy, EKR: right knee energy, EKL: left knee energyExperiment conditions:1 - zero torque is passive condition (exoskeleton applies no torque)2 - non-zero torque is active condition (exoskeleton applies torque based on virtual energy regulator control rule)%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Experiment 2 data (comparision between phase based path and virtual energy regulator controllers):Exoskeleton recorded data:Pos: position, Vel: velocity, Tor: torque, Ene: virtual energy, Vir: virtual energy, hr: right hip, hl: left hip, kr: right knee, kl: left knee, Phase: VER limit cycle phaseExperiment conditions:1 - ctrl_type = 1 is when virtual energy regulator controller is in the control loop2 - 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