Computer vision can be used by robotic leg prostheses and exoskeletons to improve high-level transitions between different locomotion modes (e.g., level-ground walking to stair ascent) through the prediction of future environmental states. Here we developed the StairNet dataset to support research and development in vision-based automated stair recognition.


Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as residual limb movement in motion-based interfaces. Previous studies demonstrated that developing human-prosthetic synergies in joint-space must consider individual motor behaviour and the intended task to be performed, requiring personalisation and task calibration.


Task-space synergy comparison data-set for the experiments performed in 2019-2020.


  • Processed: Processed data from MATLAB in ".mat" format. Organised by session and subject.
  • Raw: Raw time-series data gathered from sensors in ".csv" format. Each file represents a trial where a subject performed a reaching task. Organised by subject, modality and session. Anonymised subject information is included in a ".json" file.
    • Columns of the time-series files represent the different data gathered.
    • Rows of the time-series files represent the values at the given time "t".
  • Scripts: MATLAB scripts used to process and plot data. See ProcessAndUpdateSubjectData for data processing steps.

Abstract: Recent advances in computer vision and deep learning are allowing researchers to develop automated environment recognition systems for robotic leg prostheses and exoskeletons. However, small-scale and private training datasets have impeded the widespread development and dissemination of image classification algorithms (e.g., convolutional neural networks) for recognizing the human walking environment.


*Details on the ExoNet database are provided in the references above. Please email Brokoslaw Laschowski ( for any additional questions and/or technical assistance. 


Previous studies of robotic leg prostheses and exoskeletons with regenerative actuators have focused almost exclusively on level-ground walking applications. Here we analyzed the lower-limb joint mechanical work and power during stand-to-sit movements using inverse dynamics to estimate the biomechanical energy theoretically available for electrical energy regeneration and storage. Nine subjects performed 20 sitting and standing movements while lower-limb kinematics and ground reaction forces were experimentally measured.