# Lower-limb kinematics and kinetics during continuously varying human locomotion

arXiv: https://arxiv.org/abs/2108.12307 · HTML: https://mlsanity.com/paper/2108.12307/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Aug 2021.

## Built on by (most cited first, 7 of 7)

- [Learning Hip Exoskeleton Control Policy via Predictive Neuromusculoskeletal Simulation](https://mlsanity.com/paper/2603.04166/) (2026)
- [Validation of Human Pose Estimation and Human Mesh Recovery for Extracting Clinically Relevant Motion Data from Videos](https://mlsanity.com/paper/2503.14760/) (2025)
- [Experimental Study on Time Series Analysis of Lower Limb Rehabilitation Exercise Data Driven by Novel Model Architecture and Large Models](https://mlsanity.com/paper/2504.03799/) (2025)
- [K2MUSE: A human lower-limb multimodal walking dataset spanning task and acquisition variability for rehabilitation robotics](https://mlsanity.com/paper/2504.14602/) (2025)
- [Joint angle based learning to refine kinematic human pose estimation](https://mlsanity.com/paper/2507.11075/) (2025)
- [Understanding the Representation of Older Adults in Motion Capture Locomotion Datasets](https://mlsanity.com/paper/2511.11713/) (2025)
- [A Multi-Modal Dataset for Ground Reaction Force Estimation Using Consumer Wearable Sensors](https://mlsanity.com/paper/2603.28784/) (2026)

## Abstract (arXiv)

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, 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 (± 0.2, 0.5 m/s2), 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.