GaTech 2024 (TaskAgnostic)¶
Overview¶
- Short Code: GT24
- Year: 2024
- Institution: EPIC Lab (Georgia Tech)
Dataset from "Task-agnostic exoskeleton control via biological joint moment estimation" (Nature 2024). Contains comprehensive biomechanical data from 25 able-bodied adults performing 28 different activities while wearing a clothing-integrated hip exoskeleton. Includes joint kinematics, kinetics, ground reaction forces, and exoskeleton sensor data collected at 200 Hz across three collection phases.
Downloads¶
Dataset Information¶
Subjects and Tasks¶
- Number of Subjects: 22
- Tasks Included: Backward Walking, Cutting, Decline Walking, Incline Walking, Jump, Level Walking, Lunge, Run, Sit To Stand, Squat, Stair Ascent, Stair Descent, Stand To Sit
Subject Metadata¶
The table below summarizes the subject_metadata key:value pairs per subject.
| Subject | weight_kg | day | phase |
|---|---|---|---|
| GT24_BT01 | 84.3 | 1 | 1 |
| GT24_BT02 | 79.1 | 1 | 1 |
| GT24_BT03 | 101.5 | 1 | 1 |
| GT24_BT06 | 85.8 | 1 | 1 |
| GT24_BT07 | 70.6 | 1 | 1 |
| GT24_BT08 | 75.7 | 1 | 1 |
| GT24_BT09 | 89.0 | 1 | 1 |
| GT24_BT10 | 100.1 | 1 | 1 |
| GT24_BT11 | 57.0 | 1 | 1 |
| GT24_BT12 | 84.6 | 1 | 1 |
| GT24_BT13 | 96.0 | 1 | 2 |
| GT24_BT14 | 74.3 | 1 | 2 |
| GT24_BT15 | 65.9 | 1 | 2 |
| GT24_BT16 | 72.0 | 1 | 2 |
| GT24_BT17 | 67.4 | 1 | 2 |
| GT24_BT18 | 75.0 | 1 | 3 |
| GT24_BT19 | 76.8 | 1 | 3 |
| GT24_BT20 | 62.5 | 1 | 3 |
| GT24_BT21 | 65.9 | 1 | 3 |
| GT24_BT22 | 84.3 | 1 | 3 |
| GT24_BT23 | 74.2 | 1 | 3 |
| GT24_BT24 | 84.8 | 1 | 3 |
Task Catalog¶
| Task | Task ID | Task Info |
|---|---|---|
| backward_walking | backward_walking | leg:l,exo_state:powered,exo_joints:hip_knee,speed_m_s:0.6,incline_deg:0.0 |
| leg:l,exo_state:powered,exo_joints:hip_knee,speed_m_s:0.8,incline_deg:0.0 | ||
| leg:l,exo_state:powered,exo_joints:hip_knee,speed_m_s:1.0,incline_deg:0.0 | ||
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:0.6,incline_deg:0.0 | ||
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:0.8,incline_deg:0.0 | ||
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:1.0,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,speed_m_s:0.6,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,speed_m_s:0.8,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,speed_m_s:1.0,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:0.6,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:0.8,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:1.0,incline_deg:0.0 | ||
| cutting | cutting | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| decline_walking | decline_10deg | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:-10.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:-10.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,incline_deg:-10.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:-10.0 | ||
| decline_5deg | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:-5.0 | |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:-5.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,incline_deg:-5.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:-5.0 | ||
| incline_walking | incline_10deg | leg:l,exo_state:powered,exo_joints:hip_knee,exo_controller:hilo,incline_deg:10.0 |
| leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:10.0 | ||
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:10.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,exo_controller:hilo,incline_deg:10.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,incline_deg:10.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:10.0 | ||
| incline_5deg | leg:l,exo_state:powered,exo_joints:hip_knee,exo_controller:hilo,incline_deg:5.0 | |
| leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:5.0 | ||
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:5.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,exo_controller:hilo,incline_deg:5.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,incline_deg:5.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:5.0 | ||
| jump | jump | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| level_walking | level_0.6ms | leg:l,exo_state:powered,exo_joints:hip_knee,speed_m_s:0.6,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:0.6,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,speed_m_s:0.6,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:0.6,incline_deg:0.0 | ||
| level_1.2ms | leg:l,exo_state:powered,exo_joints:hip_knee,exo_controller:hilo,speed_m_s:1.2,incline_deg:0.0 | |
| leg:l,exo_state:powered,exo_joints:hip_knee,speed_m_s:1.2,incline_deg:0.0 | ||
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:1.2,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,exo_controller:hilo,speed_m_s:1.2,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,speed_m_s:1.2,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:1.2,incline_deg:0.0 | ||
| level_1.8ms | leg:l,exo_state:powered,exo_joints:hip_knee,speed_m_s:1.8,incline_deg:0.0 | |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:1.8,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,speed_m_s:1.8,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:1.8,incline_deg:0.0 | ||
| lunge | lunge | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| run | run_2.0ms | leg:l,exo_state:powered,exo_joints:hip_knee,speed_m_s:2.0,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:2.0,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,speed_m_s:2.0,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:2.0,incline_deg:0.0 | ||
| run_2.5ms | leg:l,exo_state:powered,exo_joints:hip_knee,speed_m_s:2.5,incline_deg:0.0 | |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:2.5,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,speed_m_s:2.5,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,speed_m_s:2.5,incline_deg:0.0 | ||
| sit_to_stand | sit_to_stand | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| squat | squat | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| stair_ascent | curb_up | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| step_up | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 | |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| stair_descent | curb_down | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| leg:r,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 | ||
| leg:r,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 | ||
| stand_to_sit | stand_to_sit | leg:l,exo_state:powered,exo_joints:hip_knee,incline_deg:0.0 |
| leg:l,exo_state:worn_unpowered,exo_joints:hip_knee,incline_deg:0.0 |
Feature Availability by Task¶
✔Complete≈Partial✖Missing
Coverage computed from converted_datasets/gtech_2024_phase.parquet.
Ground Reaction Forces¶
| Feature | Backward Walking | Cutting | Decline Walking | Incline Walking | Jump | Level Walking | Lunge | Run | Sit To Stand | Squat | Stair Ascent | Stair Descent | Stand To Sit |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
grf_anterior_contra_BW |
≈ 97.70 | ✔ | ≈ 97.00 | ≈ 97.60 | ✔ | ≈ 97.20 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
grf_anterior_ipsi_BW |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
grf_lateral_contra_BW |
≈ 97.70 | ✔ | ≈ 97.00 | ≈ 97.60 | ✔ | ≈ 97.20 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
grf_lateral_ipsi_BW |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
grf_vertical_contra_BW |
≈ 97.70 | ✔ | ≈ 97.00 | ≈ 97.60 | ✔ | ≈ 97.20 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
grf_vertical_ipsi_BW |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
Joint Angles¶
| Feature | Backward Walking | Cutting | Decline Walking | Incline Walking | Jump | Level Walking | Lunge | Run | Sit To Stand | Squat | Stair Ascent | Stair Descent | Stand To Sit |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ankle_dorsiflexion_angle_contra_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
ankle_dorsiflexion_angle_ipsi_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
foot_sagittal_angle_contra_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
foot_sagittal_angle_ipsi_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_angle_contra_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_angle_ipsi_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_angle_contra_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_angle_ipsi_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
shank_sagittal_angle_contra_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
shank_sagittal_angle_ipsi_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
thigh_sagittal_angle_contra_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
thigh_sagittal_angle_ipsi_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
Joint Moments¶
| Feature | Backward Walking | Cutting | Decline Walking | Incline Walking | Jump | Level Walking | Lunge | Run | Sit To Stand | Squat | Stair Ascent | Stair Descent | Stand To Sit |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ankle_dorsiflexion_assistance_moment_contra_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
ankle_dorsiflexion_assistance_moment_ipsi_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
ankle_dorsiflexion_moment_contra_Nm_kg |
≈ 94.70 | ✔ | ≈ 97.00 | ≈ 97.60 | ✔ | ≈ 93.10 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
ankle_dorsiflexion_moment_ipsi_Nm_kg |
≈ 97.00 | ✔ | ✔ | ✔ | ✔ | ≈ 95.80 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_assistance_moment_contra_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_assistance_moment_ipsi_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_moment_contra_Nm_kg |
≈ 94.70 | ✔ | ≈ 97.00 | ≈ 97.60 | ✔ | ≈ 93.10 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_moment_ipsi_Nm_kg |
≈ 97.00 | ✔ | ✔ | ✔ | ✔ | ≈ 95.80 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_assistance_moment_contra_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_assistance_moment_ipsi_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_moment_contra_Nm_kg |
≈ 94.70 | ✔ | ≈ 97.00 | ≈ 97.60 | ✔ | ≈ 93.10 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_moment_ipsi_Nm_kg |
≈ 97.00 | ✔ | ✔ | ✔ | ✔ | ≈ 95.80 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
Joint Velocities¶
| Feature | Backward Walking | Cutting | Decline Walking | Incline Walking | Jump | Level Walking | Lunge | Run | Sit To Stand | Squat | Stair Ascent | Stair Descent | Stand To Sit |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ankle_dorsiflexion_velocity_contra_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
ankle_dorsiflexion_velocity_ipsi_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
foot_sagittal_velocity_contra_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
foot_sagittal_velocity_ipsi_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_velocity_contra_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_velocity_ipsi_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_velocity_contra_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_velocity_ipsi_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
shank_sagittal_velocity_contra_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
shank_sagittal_velocity_ipsi_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
thigh_sagittal_velocity_contra_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
thigh_sagittal_velocity_ipsi_rad_s |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✖ | ✔ | ✔ | ✔ | ✔ | ✔ |
Other Features¶
| Feature | Backward Walking | Cutting | Decline Walking | Incline Walking | Jump | Level Walking | Lunge | Run | Sit To Stand | Squat | Stair Ascent | Stair Descent | Stand To Sit |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
cop_anterior_contra_m |
≈ 94.70 | ✔ | ≈ 97.00 | ≈ 97.60 | ✔ | ≈ 93.10 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
cop_anterior_ipsi_m |
≈ 97.00 | ✔ | ✔ | ✔ | ✔ | ≈ 95.80 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
cop_lateral_contra_m |
≈ 94.70 | ✔ | ≈ 97.00 | ≈ 97.60 | ✔ | ≈ 93.10 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
cop_lateral_ipsi_m |
≈ 97.00 | ✔ | ✔ | ✔ | ✔ | ≈ 95.80 | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
cop_vertical_contra_m |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
cop_vertical_ipsi_m |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
Data Structure¶
- Format: Phase-normalized (150 points per gait cycle)
- Sampling: Phase-indexed from 0-100%
- Variables: Standard biomechanical naming convention
Validation Snapshot¶
- Status: ⚠️ Partial (81.4%)
- Stride Pass Rate: 81.4%
- Validation Ranges: Download validation ranges (source: contributor_tools/validation_ranges/default_ranges.yaml)
- Detailed Report: View validation report
Citation¶
Slade, P., Kochenderfer, M.J., Delp, S.L. et al. Task-agnostic exoskeleton control via biological joint moment estimation. Nature (2024). https://doi.org/10.1038/s41586-024-08157-7
Collection Details¶
Protocol¶
Data collection occurred in three phases: Phase 1 (BT01-BT12) with unpowered exoskeleton and some heuristic controller trials, Phase 2 (BT13-BT17) with preliminary neural network model, and Phase 3 (BT01, BT02, BT13, BT18-BT24) as validation with final model. Subjects performed 28 activities including treadmill walking (0.6-2.5 m/s), incline/decline walking (5-10 deg), stairs, backward walking, sit-to-stand, squats, jumping, lunges, and cutting maneuvers.
Processing Notes¶
Gait cycles detected using vertical GRF threshold crossing (20 N). First 2 and last 1 strides per trial excluded as transitions. IQR-based filtering removes outlier stride durations. Biological moments (exoskeleton torque subtracted) used when available. Data phase-normalized to 150 points per gait cycle. Source data available at Georgia Tech Digital Repository: https://repository.gatech.edu/handle/1853/75759
Files Included¶
converted_datasets/gtech_2024_phase.parquet— Phase-normalized dataset- Validation report
- Conversion script in
contributor_tools/conversion_scripts/gt24/
Generated by Dataset Submission Tool on 2026-01-12 16:32
Report generated: 2026-01-12 16:32
Status Summary¶
| Metric | Value |
|---|---|
| Stride Pass Rate | 81.4% |
| Total Strides | 19849 |
| Passing Strides | 16165 |
Summary¶
Status: ⚠️ PARTIAL (81.4% valid)
Total Strides: 19849
Passing Strides: 16165
Task Breakdown¶
| Task | Pass Rate | Status |
|---|---|---|
| Backward Walking | 63.7% | ❌ |
| Cutting | 61.3% | ❌ |
| Decline Walking | 98.1% | ✅ |
| Incline Walking | 93.5% | ✅ |
| Jump | 71.8% | ⚠️ |
| Level Walking | 95.8% | ✅ |
| Lunge | 80.8% | ⚠️ |
| Run | 84.3% | ⚠️ |
| Sit To Stand | 63.5% | ❌ |
| Squat | 96.3% | ✅ |
| Stair Ascent | 64.1% | ❌ |
| Stair Descent | 53.6% | ❌ |
| Stand To Sit | 69.6% | ❌ |
Validation ranges snapshot embedded below.
Validation Ranges Snapshot¶
Download the YAML snapshot used for this validation: Download
Source ranges file: contributor_tools/validation_ranges/default_ranges.yaml
Validation Plots¶
Generated from converted_datasets/gtech_2024_phase.parquet on 2026-01-12 16:32