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)
# of Actions: Reference Configuration
# of Subjects: 1
Tools Used: OpenSim_DLR_Hand
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 . 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:
 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.
 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.