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This paper provides a complete dataset with the above-mentioned raw and processed data simultaneously recorded for sixteen healthy participants walking on a 10 meter-flat surface at seven controlled speeds (1.0, 1.5, 2.0, 2.5, 3.0, 3.5, and 4.0\u2009km\/h). The raw data include 3D joint trajectories of 24 retro-reflective markers, ground reaction forces (GRF), force plate moments, center of pressures, and EMG signals from <jats:italic>Tibialis Anterior<\/jats:italic>, <jats:italic>Gastrocnemius Lateralis<\/jats:italic>, <jats:italic>Biceps Femoris<\/jats:italic>, and <jats:italic>Vastus Lateralis<\/jats:italic>. The processed data present gait cycle-normalized data including filtered EMG signals and their envelope, 3D GRF, joint angles, and torques. This study details the experimental setup and presents a brief validation of the data quality. The presented dataset may contribute to (<jats:italic>i<\/jats:italic>) validate and enhance human biomechanical gait models, and (<jats:italic>ii<\/jats:italic>) serve as a reference trajectory for personalized control of robotic assistive devices, aiming an adequate assistance level adjusted to the gait speed and user\u2019s anthropometry.<\/jats:p>","DOI":"10.1038\/s41597-021-00881-3","type":"journal-article","created":{"date-parts":[[2021,4,12]],"date-time":"2021-04-12T10:09:07Z","timestamp":1618222147000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":75,"title":["Lower limb kinematic, kinetic, and EMG data from young healthy humans during walking at controlled speeds"],"prefix":"10.1038","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1283-7409","authenticated-orcid":false,"given":"Lu\u00eds","family":"Moreira","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9547-3051","authenticated-orcid":false,"given":"Joana","family":"Figueiredo","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4885-4924","authenticated-orcid":false,"given":"Pedro","family":"Fonseca","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4109-2939","authenticated-orcid":false,"given":"Jo\u00e3o P.","family":"Vilas-Boas","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0023-7203","authenticated-orcid":false,"given":"Cristina P.","family":"Santos","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,4,12]]},"reference":[{"key":"881_CR1","doi-asserted-by":"crossref","unstructured":"Perry, J. 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