This repository contains recorded data for exoskeleton force tracking in the manuscript [Design and Validation of a Brain-Controlled Hip Exoskeleton for Assisted Gait Rehabilitation Training].
The hip exoskeleton force tracking data in this repository was collected by an experimental team from the School of Artificial Intelligence at Anhui University of Science and Technology for hip exoskeleton performance analysis. For data collection, subjects wore the hip exoskeleton designed for this study and walked at a constant speed on a horizontal surface and a 5° slope surface. The data collected was applied to the hip exoskeleton study.
Equipment: Wearable Hip Exoskeleton. Sensors: Piezoresistive Sensor, Placed on the contact surface of the leg brace with the human leg, it is used to record the auxiliary force of the exoskeleton. Inertial sensors measure the tilt angle of the leg braces.
Forty healthy subjects (20 males and 20 females, all between 20 and 35 years of age) with no history of lower limb disease were invited to participate in the experiment. All subjects volunteered to participate in this experiment in an informed manner and signed a consent form to participate in the experiment. The experiment was approved by the Ethics Committee. Each subject walked at a constant speed on a horizontal surface and a 5° slope surface, and three sets of data were recorded for each scenario. For ease of experimental manipulation, a single leg was selected for analysis, and force tracking data were recorded and analyzed for the three phases of heel strike, foot strike, and toe strike (i.e., the curves between points “A” and “B” in the figure below).
Three sets of data were recorded for each subject in each training scenario, each containing three phases in the gait cycle: heel strike, ball of foot strike, and toe-off, with 13 features recorded for each set of data. The recorded data were saved in an Excel cell, and the reference force values were appended to the last column of the Excel cell.
Figure 1: Hip exoskeleton-assisted force tracking during multiple consecutive gait cycles of subjects walking at constant speed on a horizontal surface.
Figure 2: Hip exoskeleton-assisted force tracking of subjects over multiple consecutive gait cycles during uniform speed walking on a 5° slope surface.
This dataset is released under open data sharing principles. Users can freely use, modify, and distribute the data with proper attribution. If you have any questions, feel free to raise an issue.