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：现有的人类运动研究主要集中于硬地面步行条件。本文对硬地面与沙地上的人类步行运动进行了生物力学对比。我们收集了一个包含20名健全成年人在硬地面和沙地上运动的三维运动与生物力学数据的新数据集。文中介绍了数据采集方法，并报告了传感器数据以及关节生物力学的运动学与动力学特征。对人类的步态和关节刚度特征进行了综合分析。运动学与动力学分析表明，与硬地面行走模式相比，人类在沙地上的步行运动呈现出不同的地面反作用力和关节扭矩特征。这些步态差异反映了人类针对沙地等松软地形条件采用了运动控制策略。该数据集也为研究者研究不同地形行走的人类活动识别与辅助设备提供了运动数据来源。