Data:
The data base consists of 3 sets. The first set is just the recorded
data. In the second set the data is labelled into 7 classes and in the
third the data is labelled into 8 classes.
In the 7 classes set the actions were labelled as follows:
Push forward: Approach object – push forward – remove hand
Push aside: Approach object – push aside – remove hand
Rotate: Approach object – rotate – remove hand
Move aside: Approach object – move aside – remove hand
Grasp: approach object – grasp object – remove hand
Experiments and examination of the data suggested that a more correct
labelling would be into 8 classes, since both “Rotate” and “Move aside”
actions include grasping
of the object. The 8 class data set was labelled as follows:
Push forward: Approach object – push forward – remove hand
Push aside: Approach object – push aside – remove hand
Rotate: Approach object – grasp object - rotate – remove hand
Move aside: Approach object – grasp object – move aside – remove hand
Grasp: approach object – grasp object – remove object
Download
The .rar
file (12.1 MB) contains the data files and some Matlab files for
splitting data into or 8 classes.
The content in the data files is like this:
Sensor_0:_x_y_z
39.3576 60.9898 -54.3483
matrix
0.00183105 0.142944 -0.989746
-0.958008 0.283813 0.0390625
0.286621 0.947998 0.137573
Sensor_1:_x_y_z
66.1132 59.8624 -18.2389
matrix
0.0809326 -0.301392 0.949951
0.769043 0.625 0.132446
-0.634033 0.719849 0.282227
Sensor_2:_x_y_z
62.5748 64.2826 -17.7478
matrix
-0.256226 0.0119629 0.966431
0.893188 -0.379395 0.241333
0.369263 0.925049 0.0861816
Sensor_3:_x_y_z
64.0259 63.3115 -13.1043
matrix
-0.499756 0.239136 0.832397
0.317993 0.944458 -0.0806885
-0.805664 0.224487 -0.548096
xxxxxxxxxx
This is an example of one single measurement. Each new measurement
is presented in the same format. They are separated by "xxxxxxxxxx"
Related publications are under review.