DOI: 10.6084/m9.figshare.24955311
title: Coordinated Human-Exoskeleton Locomotion Emerges from Regulating Virtual Energy

description: Experiment raw data for "Coordinated Human-Exoskeleton Locomotion Emerges from Regulating Virtual Energy".To read the experiment protocol and details, please check the paper.%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%The dataset keywords:<br>sub_i: refers to i-th subjectv1, v2, and v3 refer to low(0.6 m/s), mid(0.75 m/s), and high(0.85 m/s) treadmill speeds.marker: body marker position raw data (100 Hz)imu: imu sensor raw data recorded by trigno emg sensor (200 Hz)emg: raw electromyography data by trigno emg sensor (2000 Hz)grf: ground reaction force raw data recorded by bertec treadmill (1000 Hz)exo: exoskeleton recorded raw data (imu-gyroscope, imu-accelerometer, joint position, joint velocity, and motor applied torque) recorded by indego exoskeleton (200 Hz)<br>no-grf: the folder does not contain grf datanoexo: no exoskeleton data (data recorded without exoskeleton, it is normal walking)noexo files starts with low(0.6 m/s) speed, continuous with mid(0.75 m/s) speed, and ends with high(0.85 m/s) speed.<br>%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Trigno sensor location:1 - right leg Rectus Femoris (RF)2 - right leg Soleus (SOL)3 - right leg Vastus Medialis (VAS) 4 - right leg Tibialis Anterior (TA)5 - right leg Tensor Fasciae Latae (TF)6 - right leg Biceps Femoris (BF)7 - right leg Gastronemius (GAS)8 - right leg Gluteus Maximus (GLU)9 - left leg Rectus Femoris (RF)10- left leg Soleus (SOL)11- left leg Vastus Medialis (VM) 12- left leg Tibialis Anterior (TA)13- left leg Tensor Fasciae Latae (TF)14- left leg Biceps Femoris (BF)15- left leg Gastronemius (GAS)16- left leg Gluteus Maximus (GLU)<br>%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Marker descriptions:<br>The marker positions are selected according to lower limb plugin model with 16 markers described in:Vicon PLUG-IN GAIT REFERENCE GUIDE Download Link: https://docs.vicon.com/download/attachments/133828966/Plug-in Gait Reference Guide.pdf?version=2&modificationDate=1637681079000&api=v2 <br>LASI: Left ASIS - Left anterior superior iliac spineRASI: Right ASIS - Right anterior superior iliac spineLPSI: Left PSIS - Left posterior superior iliac spine (immediately below the sacro-iliac joints, at the point where the spine joins the pelvis)RPSI: Right PSIS - Right posterior superior iliac spine (immediately below the sacro-iliac joints, at the point where the spine joins the pelvis)LTHI: Left thigh - Over the lower lateral 1/3 surface of the left thighLKNE: Left knee - On the flexion-extension axis of the left kneeLTIB: Left tibia - Over the lower 1/3 surface of the left shankLANK: Left ankle - On the lateral malleolus along an imaginary line that passes through the transmalleolar axisLHEE: Left heel - On the calcaneous at the same height above the plantar surface of the foot as the toe markerLTOE: Left toe - Over the second metatarsal head, on the mid-foot side of the equinus break between fore-foot and mid-footRTHI: Right thigh - Over the upper lateral 1/3 surface of the right thighRKNE: Right knee - On the flexion-extension axis of the right knee.RTIB: Right tibia - Over the upper 1/3 surface of the right shankRANK: Right ankle - On the lateral malleolus along an imaginary line that passes through the transmalleolar axisRHEE: Right heel - On the calcaneous at the same height above the plantar surface of the foot as the toe markerRTOE: Right toe - Over the second metatarsal head, on the mid-foot side of the equinus break between fore-foot and mid-foot<br>%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Exoskeleton data description:Experiment 1 (virtual energy regulator performance analysis):<br>Exoskeleton recorded data:Positions are recoded in Degree, velocities are recorded in Degree/s, and torque are recorded in Nm<br>QHL: left hip flexion angle (deg), QHR: right hip flexion angle (deg), QKR: right knee flexion angle (deg), QKL: left knee flexion angle (deg),WHR: right hip flexion velocity (deg/s), WHL: left hip flexion velocity (deg/s), WKR: right knee flexion velocity (deg/s), WKL: left knee flexion velocity (deg/s),<br>FHR: right hip flexion moment (Nm), FHL: left hip flexion moment (Nm), FKR: right knee flexion moment (Nm), FKL: left knee flexion moment (Nm),EHL: left hip virtual energy, EHR: right hip virtual energy, EKR: right knee virtual energy, EKL: left knee virtual energy<br>GYR: right gyroscope values (x, y, z), GYL: left gyroscope values (x, y, z), ACR: right accelerometer values (x, y, z), ACL: left accelerometer values (x, y, z)<br>Experiment conditions:1 - ctrl_en = 0 is passive condition (exoskeleton applies no torque)2 - ctrl_en = 1 is active condition (exoskeleton applies torque based on virtual energy regulator control rule)<br>%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Exoskeleton data description:Experiment 2 data (comparision between phase based path and virtual energy regulator controllers):<br>Exoskeleton recorded data:Pos: flexion angle (deg), Vel: flexion velocity (deg/s), Tor: flexion moment (Nm), Ene: virtual energy, Vir: desired virtual energy,hr: right hip, hl: left hip, kr: right knee, kl: left knee, Phase: VER limit cycle phase<br>Experiment conditions:1 - ctrl_type = 1 is when virtual energy regulator controller is in the control loop2 - ctrl_type = 2 is when phase based path controller is in the control loop3 - ctrl_type = 3 is a state dependent disturbance4 - ctrl_type = 0 is passive condition