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Each filename contains information about
For uncontrolled transport (experimental set-up 1) the filenames are set up as follows:
<objID>_ex<exNo>-rad-<trialID>-grasp-su<subjID>.txt
For controlled transport (experimental setup 3) the filenames are set-up as follows:
<objID>_<graspID>_ex<exNo>-rad-<trialID>-grasp-su<subjID>.txt
In both of them
The annotation of a database file is stored in an additional text file. The name of this file consists of the name of the database file extended by "_annot", i.e. the annotation of the database file
01_11_ex03-1-rad-004-grasp-su04.txt
is stored in the file
01_11_ex03-1-rad-004-grasp-su04_annot.txt.
A motion file consists of several rows of data. Each row represents one frame (also called a sample). Entries in a row of data are separated by a blank. Each data row consists of the entries visualised in figure 2.1 and are listed more extensively in table 2.1.
In table 2.1, the sensor names are predeceded by a letter indicating the finger the joint belongs to. Here, T abbreviates thumb, I index finger, etc. The abduction/adduction sensors are between two fingers, hence carry both adjacent fingers, e.g. TI-AA stands for thumb-index finger adduction/abduction. Figure 2.1 shows a more compact representation of the data ordering in motion files also grouping sensors by fingers. For a schematic kinematic chain used as basic hand model see figure 2.2.
data type | (format) | sensor ID | key | |
---|---|---|---|---|
year | (YYYY) | 1 | ||
month | (MM) | 2 | ||
day | (DD) | 3 | ||
hour | (HH) | 4 | ||
minute | (mm) | 5 | ||
seconds | (ss.sssss) | 6 | ||
Switch | (bool) | 7 | ||
T-TMCJ | (float) | 0 | 8 | |
T-MCPJ | (float) | 1 | 9 | |
T-IPJ | (float) | 2 | 10 | |
TI-AA | (float) | 3 | 11 | |
I-MCPJ | (float) | 4 | 12 | |
I-PIJ | (float) | 5 | 13 | |
I-DIJ | (float) | 6 | * | 14 |
I-AA | (float) | 7 | ** | 15 |
data type | (format) | sensor ID | key | |
---|---|---|---|---|
M-MCPJ | (float) | 8 | 16 | |
M-PIJ | (float) | 9 | 17 | |
M-DIJ | (float) | 10 | 18 | |
MI-AA | (float) | 11 | 19 | |
R-MCPJ | (float) | 12 | 20 | |
R-PIJ | (float) | 13 | 21 | |
R-DIJ | (float) | 14 | * | 22 |
RM-AA | (float) | 15 | 23 | |
L-MCPJ | (float) | 16 | 24 | |
L-PIJ | (float) | 17 | 25 | |
L-DIJ | (float) | 18 | * | 26 |
LR-AA | (float) | 19 | 27 | |
P-Arch | (float) | 20 | 28 | |
W-FE | (float) | 21 | 29 | |
W-AA | (float) | 22 | 30 |
Annotation files document the grasp phases (segments) in the database motion file. Each database file annotated was split into five phases: rest, reaching, grasp, retraction, rest. This information is captured in the annotation files: The first line is a comment starting with "#". The rest of the file contains one line per segment. Each line can be devided into three parts: first frame of the current segment, last frame of the current segment and name of the action. First and last frame together form the segment interval. The name of the action is preceeded by a dot (.) if the respective phase is considered to be more or less constant (fingers stay approximately in the same position).
The phases reaching and retraction are (mainly) named according to what is happening in that phase. Therefore the textual interval annotation may vary (i.e. reaching is represented by e.g. reach-overopen-closing, transition, closing, etc. and retraction may be called e.g. retract-opening, transition, opening etc.).
Download database including annotation files (.7z)
Download visualisation code (.7z)
Download segmentation code (.7z)
_____[segmentation]___________________________________
For citation of the database or the segmentation code please use
Katharina Stollenwerk, Anna Vögele, Björn Krüger, André Hinkenjann, and Reinhard Klein. Automatic temporal segmentation of articulated hand motion. In Lecture Notes in Computer Science, Computational Science and Its Applications (ICCSA). Vol. 9787, pp. 433 -- 449. July 2016.
bib (database) bib (segmentation code) | pdf | web | Springer_____[full database GraspDB14]________________________
As per January 2018, we are happy to also provide the full recorded database (GraspDB14) for download: Browse GraspDB14. It accompanies the technical report "GraspDB14 -- Documentation on a database of grasp motions and its creation". Should you find it usefull, please cite the following technical report
Katharina Stollenwerk, André Hinkenjann, and Reinhard Klein. GraspDB14 -- Documentation on a database of grasp motions and its creation. Technical Report No 01-2018, Hochschule Bonn-Rhein-Sieg - University of Applied Sciences, Department of Computer Science. issn 1869-5272. January 2018.
bib (database GraspDB) bib (technical report) | web | publication server H-BRS