Current studies on human locomotion focus mainly on solid ground walking conditions. In this paper, we present a biomechanic comparison of human walking locomotion on solid ground and sand. A novel dataset containing 3-dimensional motion and biomechanical data from 20 able-bodied adults for locomotion on solid ground and sand is collected. We present the data collection methods and report the sensor data along with the kinematic and kinetic profiles of joint biomechanics. A comprehensive analysis of human gait and joint stiffness profiles is presented. The kinematic and kinetic analysis reveals that human walking locomotion on sand shows different ground reaction forces and joint torque profiles, compared with those patterns from walking on solid ground. These gait differences reflect that humans adopt motion control strategies for yielding terrain conditions such as sand. The dataset also provides a source of locomotion data for researchers to study human activity recognition and assistive devices for walking on different terrains.

翻译：当前人类运动研究主要集中在固体地面行走条件上。本文对人类在固体地面与沙地行走的步态进行了生物力学比较。我们收集了一个包含20名健全成年人在固体地面和沙地运动的三维运动与生物力学数据的新数据集。报告了数据采集方法，并展示了传感器数据以及关节运动学与动力学特征。对人类步态和关节刚度特征进行了综合分析。运动学和动力学分析表明，与固体地面行走模式相比，人类在沙地行走时表现出不同的地面反作用力和关节力矩特征。这些步态差异反映出人类针对沙地等可变形地表条件采取了相应的运动控制策略。该数据集还为研究者提供了不同地形行走的人体活动识别与辅助设备研究的运动数据来源。