  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.
