This paper reports the kinematic, kinetic and electromyographic (EMG) dataset of human locomotion during level walking at different velocities, toe- and heel-walking, stairs ascending and descending. A sample of 50 healthy subjects, with an age between 6 and 72 years, is included. For each task, both raw data and computed variables are reported including: the 3D coordinates of external markers, the joint angles of lower limb in the sagittal, transversal and horizontal anatomical planes, the ground reaction forces and torques, the center of pressure, the lower limb joint mechanical moments and power, the displacement of the whole body center of mass, and the surface EMG signals of the main lower limb muscles. The data reported in the present study, acquired from subjects with different ages, represents a valuable dataset useful for future studies on locomotor function in humans, particularly as normative reference to analyze pathological gait, to test the performance of simulation models of bipedal locomotion, and to develop control algorithms for bipedal robots or active lower limb exoskeletons for rehabilitation.

The knowledge of the behavior of electrically activated muscles is an important requisite for the development of functional electrical stimulation (FES) systems to restore mobility to persons with paralysis. The aim of this work was to develop a model capable of relating electrical parameters to dynamic joint torque for FES applications. The knee extensor muscles, stimulated using surface electrodes, were used for the experimental preparation. Both healthy subjects and people with paraplegia were tested. The dynamics of the lower limb were represented by a nonlinear second order model, which took account of the gravitational and inertial characteristics of the anatomical segments as well as the damping and stiffness properties of the knee joint. The viscous-elastic parameters of the system were identified experimentally through free pendular movements of the leg. Leg movements induced by quadriceps stimulation were acquired too, using a motion analysis system. Results showed that, for the considered experimental conditions, a simple one-pole transfer function is able to model the relationship between stimulus pulsewidth (PW) and active muscle torque. The time constant of the pole was found to depend on the stimulus pattern (ramp or step) while gain was directly dependent on stimulation frequency.

The cardinal motor symptoms of Parkinson's disease (PD) have been widely investigated with particular reference to abnormalities of steady-state walking. The great majority of studies, however are related to severe forms of PD patients (phases of Hoehn and Yahr scale), where locomotor abnormalities are clearly manifested. Goal of the present study was to quantitatively describe locomotor symptoms in subjects with mild PD. Accordingly, a multitask protocol involving instrumental analysis of steady-state linear walking, initiation of gait, and turning while walking was applied to a group of patients with idiopathic PD in their early clinical stage (phases 1 and 2 of Hoehn and Yahr scale), as well as in age-matched elderly controls. Kinematic, kinetic, and myoelectric measures were obtained by optoelectronic motion analysis, force platform, and telemetric electromyography. Results in PD patients showed a tendency to bradykinetic gait, with reduction of walking speed and cadence. Impairments of gait initiation consisted in reduction of the backward shift of the center of pressure (CoP) and prolongation of the stepping phase. Alterations of the turning task were more consistent and included delayed reorientation of the head toward the new direction, altered head-upper trunk rotational strategy, and adoption of a greater number of steps to complete the turning. It is concluded that patients in the early stage of PD reveal mild alterations of steady-state linear walking and more significant anomalies in the transitional conditions, especially during changes in the travel direction. Quantitative analysis of nonstationary locomotor tasks might be a potentially useful starting point for further studies on the pathophysiology of PD.