Kinematics, kinetics, and muscle activations during human locomotion over compliant terrains

Walking on compliant terrains, like carpets, grass, and soil, presents a unique challenge, especially for individuals with mobility impairments. In contrast to rigid-ground walking, compliant surfaces alter movement dynamics and increase the risk of falls. Understanding and modeling gait control across such soft and deformable surfaces is thus crucial for maintaining daily mobility. However, access to the necessary equipment for modeling compliant surface walking is limited. Therefore, in this paper, we present the first publicly available biomechanics dataset of 20 individuals walking on terrains of varying compliance, using a unique robotic device, the Variable Stiffness Treadmill 2 (VST 2), designed to simulate walking on adjustable compliant terrain. VST 2 provides a consistent and reproducible environment for studying the biomechanics of walking on such surfaces within laboratory settings. The goal of this dataset is to provide insights into the muscular, kinematic, and kinetic adaptations that occur when humans walk on compliant terrain in order to design better controllers for prosthetic limbs, improve rehabilitation protocols, and develop adaptive assistive devices that can enhance mobility on compliant surfaces.