Lower limb joint angular position and ground contact data from healthy subjects doning a decoupled exoskeleton

 A human-user study with ten healthy subjects provides this experimental setup. The experimental protocol consists in capturing kinematic data while subjects walk, with the donned H2 lower-limb exoskeleton, across seven experimental conditions: Subjects completed 7 trials each. There were 7 different trials, 3 with marks every 30, 45 and 60 cm on 3 separate 10 meter lanes. The following 3 trials were run with audible markers by a digital metronome all run in 10 meter lanes with no visual markers and the last trial was to walk freely on the same lane as last ones without restrictions but the distance.  Captured data include angular position on saggital plane of hip, knee and ankle joints of both legs . Magnitud of Force (FRS) sensors for Heel Strike and Toe Off of both legs and ground contact sensors for HS and TO for both legs. The computed ankle trajectories in the sagittal plane were found by normalizing all trials of each test from one heel strike to the next heel strike independent of the specific gait features ofeach individual.