DLR Dataset (September 2013)

Dataset Name: DLR Dataset (September 2013)

Research Group: DLR

Hand Type: Human Hand

Data Type: Human Postures

Data Structure: Kinematic Model Description

Data Format: .mat

Sampling Rate: N/A

Action Type: Static Grasps

Objects Type: No Object

Kin. Model #DOFs: >20 (24)

Equipment: MRI

# of Actions: Reference Configuration

# of Subjects: 1

Year: 2013
Tools Used: OpenSim_DLR_Hand

Dataset Information:

This dataset contains the description of the kinematic hand model that is provided by the German Aerospace Center (DLR) for the Hand Corpus database. The axis locations are given in the form of transformation matrices. The method for deriving this hand model is described in [1]. These matrices describe the relative position and orientation of the bone and joint coordinate frames.

More information can be found on the report that accompanies the dataset.

How to Cite:

[1] G. Stillfried, U. Hillenbrand, M. Settles, and P. van der Smagt. MRI-based skeletal hand movement model. In R. Balaraman and V. Santos, editors, The human hand – a source of inspiration for robotic hands. Springer Tracts on Advanced Robotics, 2013. In print.

Additional References:

[2] Ge Wu, C. T. van der Helm, H. E. J. Veeger, et al. ISB recommendation of joint coordinate systems of various joints for the reporting of human joint motion – part ii: shoulder, elbow, wrist and hand. Journal of Biomechanics, 38:981–992, 2005.