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XSENS Inertial Sensor Dataset

posted on 2023-04-27, 12:57 authored by Riasat Islam


This dataset contains time series data of human joint angles collected using MoJoXlab sensor systems during various activities such as walking, jumping, squatting, and leg exercises. The dataset includes data for basic activities such as walking, sitting and relaxing, standing, lying down (supine position), jumping, and squatting. Additionally, it includes data for seated active and assisted knee extension/flexion and heel slide exercises. 

The data were collected at a sampling frequency of 50 Hz and exported as CSV files from both Xsens ( and NGIMU ( software. The joint angles were calculated using MoJoXlab software, which utilizes quaternion values to estimate the orientation of the sensors.

The dataset consists of time series data collected from 15 participants using two sensor systems, Xsens and NGIMU, during various lower limb movements. The data were collected at a sampling frequency of 50 Hz and exported as CSV files. The dataset includes quaternion values for orientation, specifically for the left thigh (LT), right thigh (RT), left shank (LS), right shank (RS), left foot (LF), right foot (RF), and pelvis. The sensor positions are recommended by Xsens lower limb protocol. The column headers indicate the orientation (i.e., W, X, Y, Z and q0, q1, q2, q3), and P01_LT denotes participant 1 data for the left thigh sensor position.

The dataset is useful for researchers and practitioners interested in studying human movement and developing algorithms for joint angle estimation. The data can be used to compare and validate different sensor systems and algorithms for estimating joint angles and develop and test new algorithms. The data can be downloaded and used for non-commercial research purposes with proper attribution to the authors and the data source.


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