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

Subject Metadata¶

The table below summarizes the subject_metadata key:value pairs per subject.

Subject	age	sex	height_m	weight_kg
UM21_AB01	24	Other	1.90	87.0
UM21_AB02	25	Other	1.74	75.0
UM21_AB03	20	Other	1.62	61.4
UM21_AB04	21	Other	1.79	77.5
UM21_AB05	23	Other	1.63	77.4
UM21_AB06	31	Other	1.77	73.3
UM21_AB07	20	Other	1.62	53.7
UM21_AB08	21	Other	1.80	85.1
UM21_AB09	60	Other	1.77	81.2
UM21_AB10	59	Other	1.62	74.7

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 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
`grf_anterior_contra_BW`	✔	✔	✔	✔	✖	✖	✖	✖	✔
`grf_anterior_ipsi_BW`	✔	✔	✔	✔	✖	✖	✖	✖	✔
`grf_lateral_contra_BW`	✔	✔	✔	✔	✖	✖	✖	✖	✔
`grf_lateral_ipsi_BW`	✔	✔	✔	✔	✖	✖	✖	✖	✔
`grf_vertical_contra_BW`	✔	✔	✔	✔	✖	✖	✖	✖	✔
`grf_vertical_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	✔	✔

Other Features¶

Feature	Decline Walking	Incline Walking	Level Walking	Run	Sit To Stand	Stair Ascent	Stair Descent	Stand To Sit	Transition
`cop_anterior_contra_m`	✔	✔	✔	✔	✖	✖	✖	✖	✔
`cop_anterior_ipsi_m`	✔	✔	✔	✔	✖	✖	✖	✖	✔
`cop_lateral_contra_m`	✔	✔	✔	✔	✖	✖	✖	✖	✔
`cop_lateral_ipsi_m`	✔	✔	✔	✔	✖	✖	✖	✖	✔
`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: ❌ Needs Review (20.6%)
Stride Pass Rate: 20.6%
Validation Ranges: Download validation ranges (source: contributor_tools/validation_ranges/default_ranges.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¶

umich_2021_phase_raw.parquet — Phase-normalized dataset
Validation report
Conversion script in contributor_tools/conversion_scripts/um21/

Generated by Dataset Submission Tool on 2026-01-09 10:12

Report generated: 2026-01-09 10:12

Status Summary¶

Metric	Value
Stride Pass Rate	20.6%
Total Strides	14240
Passing Strides	2928

Summary¶

Status: ❌ NEEDS REVIEW (20.6% valid)
Total Strides: 14240
Passing Strides: 2928

Task Breakdown¶

Task	Pass Rate	Status
Decline Walking	0.0%	❌
Incline Walking	0.0%	❌
Level Walking	0.0%	❌
Run	0.0%	❌
Sit To Stand	0.0%	❌
Stair Ascent	95.7%	✅
Stair Descent	73.7%	⚠️
Stand To Sit	0.0%	❌
Transition	71.0%	⚠️

Validation ranges snapshot embedded below.

⚠️ Note: Validation ranges represent established biomechanical norms from literature. Pass rates indicate conformance to these norms—lower rates may reflect special populations, non-standard protocols, or task-specific differences. See the validation interpretation guide for details.

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 umich_2021_phase_raw.parquet on 2026-01-09 10:12