This Ninapro dataset includes sEMG, inertial, kinematic and force data
from 11 transradial amputees while repeating up to 49 hand movements plus
the rest position.
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
11 trans-radial amputees.
The sEMG data are acquired using up to 12 Delsys Trigno electrodes, while
kinematic data are acquired using a Cyberglove 2 data glove.
The dataset includes up to 10 repetitions of 49 hand movements. The
subjects were asked to think to repeat as naturally as possible 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 think to repeat as
naturally as possible 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 were asked to think 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
amputated hand. Each movement repetition lasted 5 seconds and was followed
by 3 seconds of rest. Movements were selected from the hand movements
taxonomy and robotics literature.
For each exercise, for each subject, the database contains one matlab file
with synchronized variables. The variables included in the matlab files
- 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
The cyberglove signal corresponds to raw data from the cyberglove
sensors, which are expected to be proportional to the angles at the
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
Hand movements. Performed exercises: B, C, D.