Umich 2021

DocumentationValidation

Overview

• Short Code: UM21
• Year: 2021
• Institution: Locolab

Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and kinetics of the lower limbs during continuously varying locomotion is fundamental to developing robotic prostheses and exoskeletons that assist in community ambulation. However, available datasets on human locomotion neglect transitions between activities and/or continuous variations in speed and inclination during these activities. This data paper reports a new dataset that includes the lower-limb kinematics and kinetics of ten able-bodied participants walking at multiple inclines (±0°; 5° and 10°) and speeds (0.8 m/s; 1 m/s; 1.2 m/s), running at multiple speeds (1.8 m/s; 2 m/s; 2.2 m/s and 2.4 m/s), walking and running with constant acceleration (±0.2; 0.5), and stair ascent/descent with multiple stair inclines (20°; 25°; 30° and 35°). This dataset also includes sit-stand transitions, walk-run transitions, and walk-stairs transitions. Data were recorded by a Vicon motion capture system and, for applicable tasks, a Bertec instrumented treadmill.

Downloads

Download Clean Dataset Download Full Dataset (Dirty)

Dataset Information

Subjects and Tasks

• Number of Subjects: 10
• Tasks Included: Decline Walking, Incline Walking, Level Walking, Run, Sit To Stand, Stair Ascent, Stair Descent, Stand To Sit, Transition

Task Catalog

Task	Task ID	Task Info
decline_walking	decline_10deg	incline_deg:-10,speed_m_s:0.8,treadmill:true,surface:treadmill
		incline_deg:-10,speed_m_s:1.0,treadmill:true,surface:treadmill
		incline_deg:-10,speed_m_s:1.2,treadmill:true,surface:treadmill
	decline_5deg	incline_deg:-5,speed_m_s:0.8,treadmill:true,surface:treadmill
		incline_deg:-5,speed_m_s:1.0,treadmill:true,surface:treadmill
		incline_deg:-5,speed_m_s:1.2,treadmill:true,surface:treadmill
incline_walking	incline_10deg	incline_deg:10,speed_m_s:0.8,treadmill:true,surface:treadmill
		incline_deg:10,speed_m_s:1.0,treadmill:true,surface:treadmill
		incline_deg:10,speed_m_s:1.2,treadmill:true,surface:treadmill
	incline_5deg	incline_deg:5,speed_m_s:0.8,treadmill:true,surface:treadmill
		incline_deg:5,speed_m_s:1.0,treadmill:true,surface:treadmill
		incline_deg:5,speed_m_s:1.2,treadmill:true,surface:treadmill
level_walking	level	incline_deg:0,speed_m_s:0.8,treadmill:true,surface:treadmill
		incline_deg:0,speed_m_s:1.0,treadmill:true,surface:treadmill
		incline_deg:0,speed_m_s:1.2,treadmill:true,surface:treadmill
run	run_1_8_m_s	speed_m_s:1.8,treadmill:false,surface:overground
	run_2_0_m_s	speed_m_s:2.0,treadmill:false,surface:overground
	run_2_2_m_s	speed_m_s:2.2,treadmill:false,surface:overground
	run_2_4_m_s	speed_m_s:2.4,treadmill:false,surface:overground
sit_to_stand	sit_to_stand	chair_height:0.45,arm_support:false
stair_ascent	stair_ascent	step_height_m:0.097,step_width_m:0.315,incline_deg:20
		step_height_m:0.120,step_width_m:0.305,incline_deg:25
		step_height_m:0.146,step_width_m:0.295,incline_deg:30
		step_height_m:0.162,step_width_m:0.285,incline_deg:35
stair_descent	stair_descent	step_height_m:0.097,step_width_m:0.315,incline_deg:20
		step_height_m:0.120,step_width_m:0.305,incline_deg:25
		step_height_m:0.146,step_width_m:0.295,incline_deg:30
		step_height_m:0.162,step_width_m:0.285,incline_deg:35
stand_to_sit	stand_to_sit	chair_height:0.45,arm_support:false
transition	walk_transition_accel	gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.2,incline_deg:-10,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.2,incline_deg:-5,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.2,incline_deg:0,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.2,incline_deg:10,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.2,incline_deg:5,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.5,incline_deg:-10,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.5,incline_deg:-5,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.5,incline_deg:0,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.5,incline_deg:10,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:acceleration,acceleration_m_s2:0.5,incline_deg:5,treadmill:true,surface:treadmill
	walk_transition_decel	gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.2,incline_deg:-10,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.2,incline_deg:-5,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.2,incline_deg:0,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.2,incline_deg:10,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.2,incline_deg:5,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.5,incline_deg:-10,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.5,incline_deg:-5,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.5,incline_deg:0,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.5,incline_deg:10,treadmill:true,surface:treadmill
		gait_transition:true,transition_from:level_walking,transition_to:level_walking,transition_phase:deceleration,acceleration_m_s2:0.5,incline_deg:5,treadmill:true,surface:treadmill

Feature Availability by Task

✔Complete≈Partial✖Missing

Coverage computed from converted_datasets/umich_2021_phase_clean.parquet.

Ground Reaction Forces

Feature	Decline Walking	Incline Walking	Level Walking	Run	Sit To Stand	Stair Ascent	Stair Descent	Stand To Sit	Transition
anterior_grf_contra_BW	✔	✔	✔	✔	✖	✖	✖	✖	✔
anterior_grf_ipsi_BW	✔	✔	✔	✔	✖	✖	✖	✖	✔
lateral_grf_contra_BW	✔	✔	✔	✔	✖	✖	✖	✖	✔
lateral_grf_ipsi_BW	✔	✔	✔	✔	✖	✖	✖	✖	✔
vertical_grf_contra_BW	✔	✔	✔	✔	✖	✖	✖	✖	✔
vertical_grf_ipsi_BW	✔	✔	✔	✔	✖	✖	✖	✖	✔

Joint Angles

Feature	Decline Walking	Incline Walking	Level Walking	Run	Sit To Stand	Stair Ascent	Stair Descent	Stand To Sit	Transition
ankle_adduction_angle_contra_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
ankle_adduction_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
ankle_dorsiflexion_angle_contra_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
ankle_dorsiflexion_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
ankle_rotation_angle_contra_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
ankle_rotation_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
foot_sagittal_angle_contra_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
foot_sagittal_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
hip_adduction_angle_contra_rad	✔	✔	✔	✔	✔	✔	✔	✔	✔
hip_adduction_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	✔	✔	✔
hip_flexion_angle_contra_rad	✔	✔	✔	✔	✔	✔	✔	✔	✔
hip_flexion_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	✔	✔	✔
hip_rotation_angle_contra_rad	✔	✔	✔	✔	✔	✔	✔	✔	✔
hip_rotation_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	✔	✔	✔
knee_adduction_angle_contra_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
knee_adduction_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
knee_flexion_angle_contra_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
knee_flexion_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
knee_rotation_angle_contra_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
knee_rotation_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
pelvis_frontal_angle_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
pelvis_sagittal_angle_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
pelvis_transverse_angle_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
shank_sagittal_angle_contra_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
shank_sagittal_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
thigh_sagittal_angle_contra_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
thigh_sagittal_angle_ipsi_rad	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔

Joint Moments

Feature	Decline Walking	Incline Walking	Level Walking	Run	Sit To Stand	Stair Ascent	Stair Descent	Stand To Sit	Transition
ankle_adduction_moment_contra_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
ankle_adduction_moment_ipsi_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
ankle_dorsiflexion_moment_contra_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
ankle_dorsiflexion_moment_ipsi_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
ankle_rotation_moment_contra_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
ankle_rotation_moment_ipsi_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
hip_adduction_moment_contra_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
hip_adduction_moment_ipsi_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
hip_flexion_moment_contra_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
hip_flexion_moment_ipsi_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
hip_rotation_moment_contra_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
hip_rotation_moment_ipsi_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
knee_adduction_moment_contra_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
knee_adduction_moment_ipsi_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
knee_flexion_moment_contra_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
knee_flexion_moment_ipsi_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
knee_rotation_moment_contra_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔
knee_rotation_moment_ipsi_Nm_kg	✔	✔	✔	✔	✖	✖	✖	✖	✔

Joint Velocities

Feature	Decline Walking	Incline Walking	Level Walking	Run	Sit To Stand	Stair Ascent	Stair Descent	Stand To Sit	Transition
ankle_dorsiflexion_velocity_contra_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
ankle_dorsiflexion_velocity_ipsi_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
foot_sagittal_velocity_contra_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
foot_sagittal_velocity_ipsi_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
hip_flexion_velocity_contra_rad_s	✔	✔	✔	✔	✔	✔	✔	✔	✔
hip_flexion_velocity_ipsi_rad_s	✔	✔	✔	✔	✔	✔	✔	✔	✔
knee_flexion_velocity_contra_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
knee_flexion_velocity_ipsi_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
shank_sagittal_velocity_contra_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
shank_sagittal_velocity_ipsi_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
thigh_sagittal_velocity_contra_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔
thigh_sagittal_velocity_ipsi_rad_s	✔	✔	✔	✔	✔	✔	≈ 98.90	✔	✔

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 (85.4%)
• Stride Pass Rate: 85.4%
• Validation Ranges: Download validation ranges (source: contributor_tools/validation_ranges/default_ranges_v3.yaml)
• Detailed Report: View validation report

Citation

https://www.nature.com/articles/s41597-021-01057-9

Collection Details

Protocol

Standard motion capture protocol was used.

Processing Notes

No additional notes.

Files Included

• converted_datasets/umich_2021_phase_dirty.parquet — Phase-normalized dataset
• Validation report
• Conversion script in contributor_tools/conversion_scripts/um21/

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Generated by Dataset Submission Tool on 2025-10-11 11:36

Report generated: 2025-10-11 11:36

Status Summary

Metric	Value
Stride Pass Rate	85.4%
Total Strides	14240
Passing Strides	12158

Summary

Status: ⚠️ PARTIAL (85.4% valid)
Total Strides: 14240
Passing Strides: 12158

Task Breakdown

Task	Pass Rate	Status
Decline Walking	96.8%	✅
Incline Walking	88.5%	⚠️
Level Walking	86.1%	⚠️
Run	69.6%	❌
Sit To Stand	100.0%	✅
Stair Ascent	93.5%	✅
Stair Descent	93.1%	✅
Stand To Sit	100.0%	✅
Transition	52.5%	❌

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_v3.yaml

Validation Plots

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Generated from converted_datasets/umich_2021_phase_dirty.parquet on 2025-10-11 11:36