This Ninapro dataset includes sEMG and kinematic data from 10 intact
subjects while repeating 52 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
10 intact subjects.
The sEMG data are acquired using 12 Cometa electrodes. The sEMG signals
are sampled at a rate of 2 kHz.
The dataset includes 6 repetitions of 52 different movements.
The subjects are asked to repeat movements which were shown as movies on
the screen of a laptop.
During the acquisition, the subjects were asked to repeat the movements
with the right hand.
Each movement repetition lasted approximatively 5 seconds and was followed
by 3 seconds of rest.
The experiment is divided in three exercises:
- Basic movements of the fingers.
Isometric, isotonic hand configurations and basic wrist movements.
- Grasping and functional movements.
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.
- Sensor: name of the sEMG sensor
- Frequency: sampling frequency of the recorded data in Hertz
- 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.
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): 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.
- Repetition (1 column): repetition of the stimulus.
- Rerepetition (1 column): repetition of restimulus.
- Age: age of the subject;
- Gender: gender, m for male f for female.
- Weight: weight in kilograms.
- Height: height in centimeters.
Laterality: laterality, r for right-handed, l for left-handed.
Circumference: circumference of the forearm at the radio-humeral joint
height, measured in centimeters.
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: A, B, C.
Cyberglove sensors location.