DB2 Guidelines
Overview
This Ninapro dataset includes sEMG, inertial, kinematic and force data
from 40 intact subjects while repeating 49 hand movements plus the rest
position.
Publications
The dataset is described in detail in the following scientific paper.
Please, refer to it for detailed guidelines and cite it in case you use
this dataset.
Instructions
Subjects
40 intact subjects.
Acquisition Setup
The sEMG data are acquired using 12 Delsys Trigno electrodes, while
kinematic data are acquired using a Cyberglove 2 data glove.
Acquisition Protocol
The dataset includes 10 repetitions of 49 hand movements. The subjects are
asked to repeat movements which were shown as movies on the screen of a
laptop. The experiment is divided in three exercises:
- Basic movements of the fingers.
- Grasping and functional movements.
- Force patterns.
In the first two exercises, the subjects are asked to repeat several
movements represented by movies that are shown on the screen of a laptop;
the kinematic information is recorded with a dataglove (cyberglove 2) and
an accelerometer located on the wrist. In the last exercise the subjects
are asked to press combinations of fingers with an iccreasing force on a
custom made device called Finger Force Linear Sensor (Castellini 2012).
The muscular activity is gathered using 12 active double differential
wireless electrodes from a Delsys Trigno Wireless EMG system. The
electrodes are positioned as shown in the figure: eight electrodes are
equally spaced around the forearm in correspondence to the radio humeral
joint; two electrodes are placed on the main activity spots of the flexor
digitorum and of the extensor digitorum as described in; two electrodes
are placed on the main activity spots of the biceps and of the triceps.
The described locations have been chosen in order to combine a dense
sampling approach with a precise anatomical positioning strategy. The
electrodes were fixed on the forearm using their standard adhesive bands.
Moreover, a hypoallergenic elastic latex free band was placed around the
electrodes to keep them fixed during the acquisition. The sEMG signals are
sampled at a rate of 2 kHz. During the acquisition, the subjects were
asked to repeat the movements with the right hand. Each movement
repetition lasted 5 seconds and was followed by 3 seconds of rest. The
protocol includes 6 repetitions of 49 different movements (plus rest)
performed by 40 intact subjects. The movements were selected from the hand
taxonomy as well as from hand robotics literature.
Dataset variables
For each exercise, for each subject, the database contains one matlab file
with synchronized variables. The variables included in the matlab files
are:
- Subject: subject number.
- Exercise: exercise number.
-
Emg (12 columns): sEMG signal. Columns 1-8 are the electrodes equally
spaced around the forearm at the height of the radio humeral joint.
Columns 9 and 10 contain signals from the main activity spot of the
muscles flexor and extensor digitorum superficialis, while columns 11
and 12 contain signals from the main activity spot of the muscles
biceps brachii and triceps brachii.
-
Acc (36 columns): three-axes accelerometers of the 12 electrodes.
-
Glove (22 columns): uncalibrated signal from the 22 sensors of the
cyberglove.
The cyberglove signal corresponds to raw data from the cyberglove
sensors, which are expected to be proportional to the angles at the
joints.
-
Stimulus (1 column): the movement repeated by the subject, according
to the displayed movie.
-
Restimulus (1 column): again the movement repeated by the subject, but
with the duration of the movement label refined a-posteriori in order
to better correspond to the real movement.
Read the paper
Gijsberts et al., 2014
for more details about relabelling procedure.
- Repetition (1 column): repetition of the stimulus.
- Rerepetition (1 column): repetition of restimulus.
- Force (6 columns): force recorded during the third exercise
-
forcecal (2 x 6 values): the force sensors calibration values,
corresponding to the minimal and the maximal force.
Acquisition procedure. The subjects are asked to mimic movies of movement
shown on the screen of the laptop. sEMG signal is recorded with 10
electrodes (red, blue; the electrode on the flexor digitorum superficialis
and part of the equally spaced electrodes are not represented due to
perspective reasons).
Hand movements. Performed exercises: B, C, D.
Cyberglove sensors location.