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

Cite this article when using the dataset fully or in part.
M. Shushtari, J. Foellmer, and A. Arami, "Human-Exoskeleton Interaction Portrait," Journal of NeuroEngineering and Rehabilitation, Volume 21, article number 152, 2024.
DOI: https://doi.org/10.1186/s12984-024-01447-1
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# Dataset Description: “Human-Exoskeleton Interaction Portrait”

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:

## 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.

## 2. EMG:
- Measurement data from 16 Delsys EMG sensors.
- Envelopes are extracted and resampled to 200 Hz.

## 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.

## 4. Vo2:
- Metabolic measurements.

## Experiments

### 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).

### NoExo:
- Contains data of participants walking on a treadmill without the exoskeleton.
- Tested at the same speeds as in the Main experiment.

## Abbreviations and Definitions:

- **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