Table 7.

Overview of publicly available human gait databases.

Name	Subjects	Env.	Sensors	Labels	Trial description	~ Size
MAREA17	20 healthy; 33.5 ± 7 years old	indoor, outdoor	4 IMUs (waist, left wrist, both ankles), FSR sensors at sole ends of both feet	HS, TO	treadmill flat/slope with increasing/self-selected speed; walking and running on indoor/outdoor flat space; 1 trial per subject	6 h
Gutenberg Gait Database43	350 healthy; 11–64 years old	indoor	Force plate providing GRF and COP data	None	10 m walking; self selected speed; walk on two flat force plates; 20 trials per subject	24 h
HuGaDB15	18 healthy; 23.6 ± 3.7 years old	indoor	6 IMUs (both upper legs, both lower legs, both feet), 2 EMGs (both upper leg)	12 activities (walking, sitting, running,…)	self selected speed; varying trial duration for each activity	4 h
Irregular surfaces18	30 healthy; 19–33 years old	outdoor	6 IMUs (both upper legs, both lower legs, right wrist, L5/S1 joint)	9 surfaces (flat, grass, cobblestone, stairs up/down, slope up/down,…)	self selected speed; walking on predefined terrain; each trial lasted on average 16 s	7.5 h
Human Locomotion10	230 (52 healthy, 53 orthopedic, 125 neurological); 55.5 ± 19.6 years old	indoor	2 IMUs (on both feet)	None	self selected speed; 10 meter walk with turn and walk back; repeated 1–27 times per subject	8.5 h
Gait Analysis Data Base9	108 healthy; 17–63 years old	indoor, treadmill	2 IMUs (on both feet), 5 sEMGs (both lower and upper legs, pelvis)	None	cat-walk scenario: walking a distance of 20 m on flat ground at usual, reduced and increased speed, treadmill scenario: walking on a treadmill at incremental speed settings	30 h
Overground and treadmill kinematics44	42 healthy; 24 young adults 27.6 ± 4.4 years old, 16 older adults 62.7 ± 8 years old	indoor, treadmill	3D motion capture system with 12 cameras, force plate	None	walking 10 m barefoot on a force plate at usual, reduced and increased walking speed; walking barefoot on a treadmill with 8 different velocities	8.5 h
Ours	20 healthy; 18–69 years old	outdoor	17 IMUs (covering whole body), 8 FSR sensors per foot, eye tracker	9 gait modes (walking, stairs up/down, slope up/down,…) HS, TO	self selected speed; three predefined courses on public places, repeated 3–5 times per subject, each trial lasted between 1–5 min.	9 h