Dataset Open Access

Raw data employed to perform the algorithm used in the scientific paper: "Kinematic reconstruction of the upper limb joints in planar robot-aided therapies

Garcia-Aracil, Nicolas M.; Bertomeu-Motos, Arturo; Morales, Ricardo; Díez Pomares, Jorge A.; Lledó, Luis D.; Badesa, Francisco J.

These files contain the raw data (acquired from different users) necessary to perform the algorithm introduced in the scientific paper:

PAPER: Kinematic reconstruction of the upper limb joints in planar robot-aided therapies

Authors: Arturo Bertomeu-Motos, Ricardo Morales, Jorge A. Díez, Luis D. Lledó, Francisco J. Badesa, Nicolas Garcia-Aracil

Conference: ICORR 2015, IEEE 14th International Conference on Rehabilitation Robotics, August 2015


All the orientations are expressed regarding the origin of the robot.

a) Robot Joints: Planar robot joints acquired during the experiment, in radians (j1-j3 columns). This robot is referenced in the paper.
b) Quaternion IMU shoulder: Unit quatenion acquired through a 9DoFs Inertial Measurement Unit (IMU) developed by Shimmer (qw1-qz columns).
c) Upper arm acceleration: Acceleration acquired from a 3-axial accelerometer developed by Shimmer (X-Z columns). It is normalized regarding the gravity (9.81m/s^2).
d) Quaternion Tracker onto Shoulder: unit quaternion of the tracker placed onto the shoulder acquired from the tracking camera V120:trio developed by Optitrack (qw1-qz columns).
e) Quaternion Tracker onto Upper Arm: unit quaternion of the tracker placed onto the upper arm acquired from the tracking camera V120:trio developed by Optitrack (qw1-qz columns).

This work is part of the project "Adaptive Multimodal Interfaces to Assist Disabled People in Daily Activities" funded by the European Commission's Horizon 2020 Framework Programme, Call number ICT-22-2014: Multimodal and Natural computer interaction, under Grant Agreement No 645322.
Files (3.6 MB)
Name Size
raw_data_ICORR_metadata.txt md5:cf457b8144756bd028e1ab912cf86ea5 2.9 kB Download
User1_1.csv md5:5ab4ed770e4483939b18b1c3050986d9 901.0 kB Download
User1_2.csv md5:1edb362d63333d236ff265bf586e9435 896.1 kB Download
User2_1.csv md5:14f27dd73619f9842327178dac39e15f 899.9 kB Download
User2_2.csv md5:5ab4ed770e4483939b18b1c3050986d9 901.0 kB Download

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