HUST Dataset (March 2016)

Dataset: HUST Dataset (March 2016) – Joint angles of human hand while executing the grasping tasks of Feix taxonom.

Research Group: HUST

Hand Type: Human Hand

Data Type: Human Motion Data, Human Postures

Data Structure: Joint Angles (rad)

Data Format: .txt

Sampling Rate: >=100 Hz (100 Hz)

Action Type: Reach and Grasp

Objects Type: Real Objects

Kin. Model #DOFs: > 15 & <=20 (16)

Equipment: Motion Capture System – Cyberglove (Cyberglove Systems)

# of Actions: > 20 (33)

# of Subjects: > 5 (30)

Year: 2016


The joint angles of human hand during the grasping tasks of Feix taxonomy.

Dataset Information:

Subjects were seated near the edge of a table and placed their right arm on the table in a comfortable posture. They were instructed to perform 33 types of tasks of the Feix taxonomy, using a large number of objects, which were chosen from the most common objects in daily life and had a large range of sizes and shapes, such as cylinders, disks, spheres and cards. In each type of task, the subjects were asked to grasp three objects of different sizes or shapes separately, and each test was repeated on every object three times to depress random error. At the beginning of each trial, objects were placed beyond the subjects’ suitable reaching distance, and the subjects extended their right hand in a natural full extension. Upon hearing the “go” command, the subjects started to grasp the object at a self-paced speed. They were allowed to move the proximal arm in accordance with the hand motion during the experiment.

How to Cite:

[1] Liu M-J, Xiong C-H, Xiong L, Huang X-L (2016) Biomechanical Characteristics of Hand Coordination in Grasping Activities of Daily Living. PLoS ONE 11(1): e0146193. doi: 10.1371/journal.pone.0146193

[2] Feix T, Pawlik R, Schmiedmayer H-B, Romero J, Kragic D, editors. A comprehensive grasp taxonomy. Robotics, Science and Systems: Workshop on Understanding the Human Hand for Advancing Robotic Manipulation; 2009.