DOI: 10.6084/m9.figshare.26090200.v1
title: IMU-Based Motion Capture Data for Various Walking Tasks

description: This dataset contains motion capture data collected from 11 healthy subjects performing various walking tasks using IMU-based sensors. Each subject performed 8 different tasks under the following conditions:1. Normal walk2. Fast walk3. Normal walk while holding a 1 kg weight with the dominant hand4. Fast walk while holding a 1 kg weight with the dominant hand5. Normal walk with a knee brace on one leg6. Fast walk with a knee brace on one leg7. Normal walk with a knee brace while holding a 1 kg weight (a combination of Task 3 and Task 5)8. Fast walking with a knee brace while holding a 1 kg weight (a combination of Task 4 and Task 6)<br><b>Data Collection</b>The data was collected using a commercial IMU-based motion capture system, with 10 modules worn on the following body parts:- Left foot- Right foot- Left shank- Right shank- Left thigh- Right thigh- Left arm- Right arm- Trunk- Pelvis<br>Each module recorded the following data along X, Y, and Z axes:- Accelerometer data- Gyroscope data- Magnetometer data<b>Sampling Rate:</b>- The data sampling rate is 4 ms for all subjects except sub_01 and sub_03, where the sampling rate is 6 ms.- In certain rows of the files, there are irregularities in the recorded time. This occurs when the time value reaches 65,535 or multiples of it (e.g., 131,070 and 196,605). This problem is associated with the way time is displayed and does not impact the sample rate.<b>Data Structure</b>The dataset is organized into the following folders for each subject.<br>Subject folders:- sub_01- sub_02- sub_03- sub_04- sub_05- sub_06- sub_07- sub_08- sub_09- sub_10 (Note: Task 2 is missing from sub_10 folder)- sub_11<br>Task folders within each subject’s folder include:- 1_walking normal- 2_walking fast- 3_weight normal- 4_weight fast- 5_brace normal- 6_brace fast- 7_brace weight normal- 8_brace weight fast<br>Each trial folder contains four CSV files, named according to the trial condition. For example, for the first trial, the files are:- walking normal_Raw.csv- walking normal_Processed.csv- walking normal_Euler.csv- walking normal_JointsKinematics.csv<b>CSV File Descriptions</b>1. Raw: Contains raw sensor data.- Time (ms)- Accelerometer data (X, Y, Z)- Gyroscope data (X, Y, Z)- Magnetometer data (X, Y, Z)<br>2. Processed: Contains preprocessed data.- Time (ms)- Quaternion components (Q0, Q1, Q2, Q3)- Acceleration in IMU coordinate system (X, Y, Z)- Linear acceleration without gravity (X, Y, Z)- Acceleration in the global coordinate system (X, Y, Z)<br>3. Euler: Contains Euler angles.- Time (ms)- Roll, Pitch, and Yaw angles<br>4. Joints Kinematics: Contains joint angle data.- Time (ms)- Abduction-Adduction angle- Internal-External Rotation angle- Flexion-Extension angle<br><b>Column Labels</b><br>Raw Data File:- Time_LeftFoot, AccX_LeftFoot, AccY_LeftFoot, AccZ_LeftFoot, GyroX_LeftFoot, GyroY_LeftFoot, GyroZ_LeftFoot, MagX_LeftFoot, MagY_LeftFoot, MagZ_LeftFoot, *<br>Processed Data File:- Time_LeftFoot, Q0_LeftFoot, Q1_LeftFoot, Q2_LeftFoot, Q3_LeftFoot, Acc_X_LeftFoot, Acc_Y_LeftFoot, Acc_Z_LeftFoot, Acc_linX_LeftFoot, Acc_linY_LeftFoot, Acc_linZ_LeftFoot, Acc_GlinX_LeftFoot, Acc_GlinY_LeftFoot, Acc_GlinZ_LeftFoot, *<br>Euler Data File:- Time_LeftFoot, Roll_LeftFoot, Pitch_LeftFoot, Yaw_LeftFoot, *<br>Joints Kinematics Data File:- Time_LeftAnkle, Abduction-Adduction_LeftAnkle, Internal-External Rotat_LeftAnkle, Flexion-Extension_LeftAnkle, **<br><b>Additional Notes</b>- This dataset can be used for research in biomechanics, rehabilitation, and human motion analysis.* (Similar pattern for RightFoot, LeftShank, RightShank, LeftThigh, RightThigh, LeftHumerus, RightHumerus, Pelvic, Trunk)** (Similar pattern for RightAnkle, LeftKnee, RightKnee, LeftHip, RightHip, LeftShoulder, RightShoulder, Pelvic, Trunk2Ground)