MBLUE Ankle Exoskeleton Study¶
Overview¶
- Short Code: MB24
- Year: 2024
- Institution: University of Michigan
Biomechanical data from the MBLUE (Modular Bi-Lateral Lower-limb Unloading Exoskeleton) ankle exoskeleton study. Includes 10 able-bodied subjects performing various locomotion tasks with and without an ankle exoskeleton, processed through OpenSim for inverse kinematics and inverse dynamics analysis.
Downloads¶
Dataset Information¶
Subjects and Tasks¶
- Number of Subjects: 10
- Tasks Included: Decline Walking, Incline Walking, Level Walking, 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 | age | sex | weight_kg |
|---|---|---|---|
| MBLUE_AB01 | 28 | M | 83.3 |
| MBLUE_AB02 | 26 | F | 70.6 |
| MBLUE_AB03 | 57 | F | 64.4 |
| MBLUE_AB04 | 24 | M | 69.1 |
| MBLUE_AB05 | 56 | M | 72.3 |
| MBLUE_AB06 | 34 | M | 75.9 |
| MBLUE_AB08 | 21 | F | 60.1 |
| MBLUE_AB09 | 36 | F | 64.8 |
| MBLUE_AB10 | 25 | F | 54.3 |
| MBLUE_AB11 | 26 | M | 68.0 |
Task Catalog¶
| Task | Task ID | Task Info |
|---|---|---|
| decline_walking | decline_10deg | leg:l,exo_state:no_exo |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| decline_5deg | leg:l,exo_state:no_exo | |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| incline_walking | incline_10deg | leg:l,exo_state:no_exo |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| incline_5deg | leg:l,exo_state:no_exo | |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| level_walking | level_0.75ms | leg:l,speed_m_s:0.75,exo_state:no_exo |
| leg:l,speed_m_s:0.75,exo_state:powered,exo_joints:ankle | ||
| leg:r,speed_m_s:0.75,exo_state:no_exo | ||
| leg:r,speed_m_s:0.75,exo_state:powered,exo_joints:ankle | ||
| level_1.0ms | leg:l,speed_m_s:1.0,exo_state:no_exo | |
| leg:l,speed_m_s:1.0,exo_state:powered,exo_joints:ankle | ||
| leg:r,speed_m_s:1.0,exo_state:no_exo | ||
| leg:r,speed_m_s:1.0,exo_state:powered,exo_joints:ankle | ||
| level_1.25ms | leg:l,speed_m_s:1.25,exo_state:no_exo | |
| leg:l,speed_m_s:1.25,exo_state:powered,exo_joints:ankle | ||
| leg:r,speed_m_s:1.25,exo_state:no_exo | ||
| leg:r,speed_m_s:1.25,exo_state:powered,exo_joints:ankle | ||
| sit_to_stand | sit_to_stand | leg:l,exo_state:no_exo |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| squat | crouch | leg:l,exo_state:no_exo |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| stair_ascent | stair_ascent_s2 | leg:l,exo_state:no_exo |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| stair_ascent_s3 | leg:l,exo_state:no_exo | |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| stair_ascent_s4 | leg:l,exo_state:no_exo | |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| stair_descent | stair_descent_s1 | leg:l,exo_state:no_exo |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| stair_descent_s2 | leg:l,exo_state:no_exo | |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| stair_descent_s3 | leg:l,exo_state:no_exo | |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| stair_descent_s4 | leg:l,exo_state:no_exo | |
| leg:l,exo_state:powered,exo_joints:ankle | ||
| leg:r,exo_state:no_exo | ||
| leg:r,exo_state:powered,exo_joints:ankle | ||
| stand_to_sit | stand_to_sit | leg:l,exo_state:no_exo |
| leg:l,exo_state:powered,exo_joints:ankle |
Feature Availability by Task¶
✔Complete≈Partial✖Missing
Coverage computed from converted_datasets/mblue_ankle_phase.parquet.
Ground Reaction Forces¶
| Feature | Decline Walking | Incline Walking | Level Walking | Sit To Stand | Squat | Stair Ascent | Stair Descent | Stand To Sit |
|---|---|---|---|---|---|---|---|---|
grf_vertical_contra_BW |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
grf_vertical_ipsi_BW |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
Joint Angles¶
| Feature | Decline Walking | Incline Walking | Level Walking | 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 |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
pelvis_sagittal_angle_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
shank_sagittal_angle_contra_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
shank_sagittal_angle_ipsi_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
thigh_sagittal_angle_contra_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
thigh_sagittal_angle_ipsi_rad |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
Joint Moments¶
| Feature | Decline Walking | Incline Walking | Level Walking | Sit To Stand | Squat | Stair Ascent | Stair Descent | Stand To Sit |
|---|---|---|---|---|---|---|---|---|
ankle_dorsiflexion_moment_contra_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
ankle_dorsiflexion_moment_ipsi_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_moment_contra_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
hip_flexion_moment_ipsi_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_moment_contra_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
knee_flexion_moment_ipsi_Nm_kg |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
Joint Velocities¶
| Feature | Decline Walking | Incline Walking | Level Walking | 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 |
✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ | ✔ |
pelvis_sagittal_velocity_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 | Decline Walking | Incline Walking | Level Walking | Sit To Stand | Squat | Stair Ascent | Stair Descent | Stand To Sit |
|---|---|---|---|---|---|---|---|---|
cop_anterior_contra_m |
≈ 64.20 | ≈ 65.10 | ≈ 64.90 | ≈ 90.10 | ≈ 93.70 | ≈ 58.60 | ≈ 55.90 | ≈ 90.10 |
cop_anterior_ipsi_m |
≈ 64.20 | ≈ 65.10 | ≈ 64.90 | ≈ 90.10 | ≈ 95.50 | ≈ 58.60 | ≈ 55.90 | ≈ 90.10 |
cop_lateral_contra_m |
≈ 64.20 | ≈ 65.10 | ≈ 64.90 | ≈ 90.10 | ≈ 93.70 | ≈ 58.60 | ≈ 55.90 | ≈ 90.10 |
cop_lateral_ipsi_m |
≈ 64.20 | ≈ 65.10 | ≈ 64.90 | ≈ 90.10 | ≈ 95.50 | ≈ 58.60 | ≈ 55.90 | ≈ 90.10 |
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 (89.6%)
- Stride Pass Rate: 89.6%
- Validation Ranges: Download validation ranges (source: contributor_tools/validation_ranges/default_ranges.yaml)
- Detailed Report: View validation report
Citation¶
Walters, K. MBLUE Ankle Exoskeleton Study, University of Michigan, 2024.
Collection Details¶
Protocol¶
Subjects performed locomotion tasks on a treadmill (level walking at 0.75, 1.0, 1.25 m/s; incline/decline at 5 and 10 degrees) and overground (stairs, sit-to-stand, crouch). Data collected with Vicon motion capture and processed through OpenSim for inverse kinematics and dynamics. Both bare (no exoskeleton) and exo (with ankle exoskeleton) conditions were recorded.
Processing Notes¶
Data is phase-normalized (101 points in source, interpolated to 150 points for standard format). Joint angles converted from degrees to radians. Knee angle sign convention flipped to flexion-positive. Moments normalized by body mass (Nm/kg). GRF normalized by body weight (BW). Only vertical GRF available in the processed data.
Files Included¶
converted_datasets/mblue_ankle_phase.parquet— Phase-normalized dataset- Validation report
- Conversion script in
contributor_tools/conversion_scripts/mb24/
Generated by Dataset Submission Tool on 2026-01-12 21:29
Report generated: 2026-01-12 21:29
Status Summary¶
| Metric | Value |
|---|---|
| Stride Pass Rate | 89.6% |
| Total Strides | 15825 |
| Passing Strides | 14173 |
Summary¶
Status: ⚠️ PARTIAL (89.6% valid)
Total Strides: 15825
Passing Strides: 14173
Task Breakdown¶
| Task | Pass Rate | Status |
|---|---|---|
| Decline Walking | 87.7% | ⚠️ |
| Incline Walking | 95.2% | ✅ |
| Level Walking | 99.2% | ✅ |
| Sit To Stand | 93.6% | ✅ |
| Squat | 84.1% | ⚠️ |
| Stair Ascent | 47.1% | ❌ |
| Stair Descent | 43.3% | ❌ |
| Stand To Sit | 95.0% | ✅ |
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/mblue_ankle_phase.parquet on 2026-01-12 21:29