  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 ($\pm$ 0, 5, 10 $^{\circ}$) and speeds (0.8, 1,
1.2 m/s), running at multiple speeds (1.8, 2, 2.2, 2.4 m/s), walking and
running with constant acceleration ($\pm$ 0.2, 0.5 $\text{m/s^2}$), and stair
ascent/descent with multiple stair inclines (20, 25, 30, 35 $^{\circ}$). 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.

Robotics