Datasets of fingertip forces while grasping a handle with unsteady thumb platform

The file consists of four raw datasets that includes fingertip forces data of all the fingers and thumb collected while performing four different prehension experiments using a five-finger prehensile handle with a slider platform to place thumb. During each prehension experiment, a separate friction measuring experiment was performed. In the friction experiment, during each trial, fingertip forces and moment data were collected from either index finger or thumb. <br>Each experimental folder includes data collected during the prehension and friction experiment respectively.

本数据集包含四份原始数据集，均采集自采用带拇指放置滑块平台的五指握持手柄开展四项不同抓握（Prehension）实验时，所有手指与拇指的指尖力数据。每次抓握实验期间，均开展一项独立的摩擦力测量实验。在该摩擦力测量实验的每一试次中，会采集食指或拇指的指尖力与力矩数据。
每个实验文件夹分别包含抓握实验与摩擦力测量实验所采集的数据。