HHI_raw_data.zip

This repo contains all of the data used for:<br>Trends in Haptic Communication of Human-Human Dyads: Towards Natural Human-Robot Co-manipulationAuthors: Spencer W. Jensen, John Salmon, and Marc D. KillpackPublished in Frontiers in Neurorobotics<br>Contents:- Sensor_Data\- Survey Data<br>-------------------------------------------------------------------Sensor_data contains a single .mat file for every trial conducted. All directions indicated are in the table frame unless otherwise specified. The units are SI (N,Nm,m,rad,etc) The following variables correspond the following metrics:<br>MOTION DATA:p_x = Position of center of board in x-directionp_y = Position of center of board in y-directionp_z = Position of center of board in z-directionth_x = Orientation of board about x-axis (global frame)th_y = Orientation of board about y-axis (global frame)th_z = Orientation of board about z-axis (global frame)v_x = Linear velocity of center of board in x-directionv_y = Linear velocity of center of board in y-directionv_z = Linear velocity of center of board in z-directionw_x = Angular velocity of board about x-directionw_y = Angular velocity of board about y-directionw_z = Angular velocity of board about z-directiona_x = linear acceleration of center of board in x-directiona_y = linear acceleration of center of board in y-directiona_z = linear acceleration of center of board in z-directionalpha_x = angular acceleration of board about x-directionalpha_y = angular acceleration of board about y-directionalpha_z = angular acceleration of board about z-direction<br>FORCE/TORQUE DATA:ff_x = Force of follower in x-directionff_y = Force of follower in y-directionff_z = Force of follower in z-directionfl_x = Force of leader in x-directionfl_y = Force of leader in y-directionfl_z = Force of leader in z-directionfg_x = Force of gravity in x-directionfg_y = Force of gravity in y-directionfg_z = Force of gravity in z-directiontauf_x = Torque of follower in x-directiontauf_y = Torque of follower in y-directiontauf_z = Torque of follower in z-directiontaul_x = Torque of leader in x-directiontaul_y = Torque of leader in y-directiontaul_z = Torque of leader in z-direction<br>TIME DATA:time = time stamps of data<br>Other variables are derivatives of these or not used in paper------------------------------------------------------------------------survey_data contains the Likert scale survey reponses in a .mat file. Once loaded a table variable T holds all data.See paper for actual survey questions and scale.

本仓库收录了用于以下研究的全部实验数据：<br>《人类双人触觉通信研究进展：面向自然化人机协同操作》<br>作者：Spencer W. Jensen、John Salmon、Marc D. Killpack<br>发表于《Frontiers in Neurorobotics（神经机器人学前沿）》<br><br>数据内容：- 传感器数据集（Sensor_Data） - 调研数据集（Survey Data）<br>-------------------------------------------------------------------<br>传感器数据集文件夹内包含每一次实验的单个MATLAB数据文件（.mat）。除非另有说明，所有标注的方向均基于工作台坐标系。数据单位采用国际单位制（SI），涵盖牛（N）、牛·米（Nm）、米（m）、弧度（rad）等。以下变量对应如下指标：<br><br>### 运动数据：<br>p_x = 工作台中心在x轴方向的位置<br>p_y = 工作台中心在y轴方向的位置<br>p_z = 工作台中心在z轴方向的位置<br>th_x = 工作台绕x轴的姿态（全局坐标系）<br>th_y = 工作台绕y轴的姿态（全局坐标系）<br>th_z = 工作台绕z轴的姿态（全局坐标系）<br>v_x = 工作台中心在x轴方向的线速度<br>v_y = 工作台中心在y轴方向的线速度<br>v_z = 工作台中心在z轴方向的线速度<br>w_x = 工作台绕x轴的角速度<br>w_y = 工作台绕y轴的角速度<br>w_z = 工作台绕z轴的角速度<br>a_x = 工作台中心在x轴方向的线加速度<br>a_y = 工作台中心在y轴方向的线加速度<br>a_z = 工作台中心在z轴方向的线加速度<br>alpha_x = 工作台绕x轴的角加速度<br>alpha_y = 工作台绕y轴的角加速度<br>alpha_z = 工作台绕z轴的角加速度<br><br>### 力/扭矩数据：<br>ff_x = 跟随者在x轴方向的受力<br>ff_y = 跟随者在y轴方向的受力<br>ff_z = 跟随者在z轴方向的受力<br>fl_x = 主导者在x轴方向的受力<br>fl_y = 主导者在y轴方向的受力<br>fl_z = 主导者在z轴方向的受力<br>fg_x = x轴方向的重力分量<br>fg_y = y轴方向的重力分量<br>fg_z = z轴方向的重力分量<br>tauf_x = 跟随者在x轴方向的扭矩<br>tauf_y = 跟随者在y轴方向的扭矩<br>tauf_z = 跟随者在z轴方向的扭矩<br>taul_x = 主导者在x轴方向的扭矩<br>taul_y = 主导者在y轴方向的扭矩<br>taul_z = 主导者在z轴方向的扭矩<br><br>### 时间数据：<br>time = 数据采集的时间戳<br><br>其余变量为上述变量的衍生量或未在论文中使用<br>-------------------------------------------------------------------<br>调研数据集文件夹内包含以李克特量表（Likert scale）收集的调研反馈数据，存储为MATLAB数据文件（.mat）。加载该文件后，表格变量T将包含全部调研数据。具体调研问题与量表设置详见对应论文。