DB7 Data

Title Hand Handedness Age Height Weight Remaining Forearm (%) Years passed by the amputation Amputation cause Use of cosmetic prosthesis (Years) Use of kinematic prosthesis (Years) Use of myoelectric prosthesis (Years) Pre-Processed Files
01 Intact Left 33 173 80
02 Intact Right 22 180 70
03 Intact Right 30 167 84
04 Intact Left 22 167 63
05 Intact Left 25 178 93
06 Intact Right 25 169 74
07 Intact Right 26 177 63
08 Intact Right 29 178 76
09 Intact Right 24 169 67
10 Intact Right 25 162 53
11 Intact Right 25 175 75
12 Intact Right 27 175 70
13 Intact Right 23 175 75
14 Intact Left 30 190 70
15 Intact Right 25 185 75
16 Intact Right 30 173 68
17 Intact Right 24 178 66
18 Intact Right 27 180 95
19 Intact Right 29 183 80
20 Intact Right 27 182 78
21 Right Hand Amputated Right 28 180 76 50 6 Accident 0 6 0
22 Right Hand Amputated Right 54 182 90 50 18 Cancer (epithelioid sarcoma) 0 17 2

DB7 Guidelines


This Ninapro dataset includes myoelectric and inertial measurements.


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.



20 intact subjects, 2 amputees.

Acquisition Setup

12 active double differential wireless electrodes from a Delsys Trigno IM Wireless EMG system. The sensors comprise EMG electrodes and 9-axes inertial measurement units (IMUs). The sensors are positioned as shown in the figure: eight sensors are equally spaced around the forearm in correspondence to the radio humeral joint; two sensors are placed on the main activity spots of the flexor digitorum and of the extensor digitorum as described in; two sensors are placed on the main activity spots of the biceps and of the triceps. The sensors were fixed on the forearm using their standard adhesive bands. Moreover, a hypoallergenic elastic latex free band was placed around the sensors to keep them fixed during the acquisition. The sEMG signals are sampled at a rate of 2 kHz.
The kinematic information is recorded with a dataglove (cyberglove 2, 18-DOF model).

Acquisition Protocol

The subjects have to repeat several movements represented by movies that are shown on the screen of a computer monitor.

The experiment is divided in two exercises:

  1. Basic movements of the fingers and of the wrist.
  2. Grasping and functional movements.
During the acquisition, the subjects were asked to repeat the movements with the right hand (phantom limb in the case of amputees). Each movement repetition lasted 5 seconds and was followed by 3 seconds of rest. The protocol includes 6 repetitions of 40 different movements (plus rest). One of the amputee subjects (Subject 21) did not perform the final two (functional) movements of Exercise 2; therefore, the number of classes associated with this subject is 38.

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:

Acquisition procedure. The subjects are asked to mimic movies of movement shown on the screen of the laptop. sEMG signal is recorded with 12 electrodes (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.

Cyberglove sensors location.