Multimodal data

Upper limb joint angles (shoulder flexion/extension, shoulder adduction/abduction, shoulder internal/external rotation, elbow flexion/extension, forearm pronation/supination, wrist flexion/extension, and wrist adduction/abduction) and corresponding angular velocities are acquired using Noraxon myoMotion sensors with an acquisition frequency of 200Hz. four myoMotion sensors are affixed to the participant's anterior segment of the upper spine, upper arm, forearm, and hand, respectively. The joint angles and corresponding angular accelerations will be automatically calculated by Noraxon MR3 software. The angular velocity of each joint is obtained by integrating the angular acceleration against time and removing the drift effect of the accelerometer by a polynomial fit. The UR5e cobot is employed to capture interaction forces, poses, and velocities of the end-of-arm. The UR5e has 7-Dof, a 5kg payload, and an 850mm working radius. It is furnished with a six-dimensional force sensor at the end to fulfill the experimental requirements.本数据集采集了上肢关节角度（含肩关节屈伸、肩关节内收外展、肩关节内旋外旋、肘关节屈伸、前臂旋前旋后、腕关节屈伸及腕关节内收外展）及其对应角速度，采集设备为Noraxon myoMotion传感器（Noraxon myoMotion），采集频率为200Hz。四台该型号传感器分别固定于受试者的上脊柱前段、上臂、前臂与手部。关节角度及其对应角加速度将由Noraxon MR3软件（Noraxon MR3）自动计算得出。各关节的角速度通过对角加速度进行时间积分，并通过多项式拟合消除加速度计的漂移效应后得到。本实验采用UR5e协作机器人采集机械臂末端的交互力、位姿与速度。该UR5e协作机器人具备7自由度、5kg有效负载及850mm工作半径，其末端搭载六维力传感器以满足实验要求。