Multimodal data

Upper limb joint angles (shoulder flexion/extension, shoulder adduction/abduction, shoulder internal/external rotation, elbow flexion/extension, forearm pronation/supination, wrist flexion/extension, and wrist adduction/abduction) and corresponding angular velocities are acquired using Noraxon myoMotion sensors with an acquisition frequency of 200Hz. four myoMotion sensors are affixed to the participant's anterior segment of the upper spine, upper arm, forearm, and hand, respectively. The joint angles and corresponding angular accelerations will be automatically calculated by Noraxon MR3 software. The angular velocity of each joint is obtained by integrating the angular acceleration against time and removing the drift effect of the accelerometer by a polynomial fit. The UR5e cobot is employed to capture interaction forces, poses, and velocities of the end-of-arm. The UR5e has 7-Dof, a 5kg payload, and an 850mm working radius. It is furnished with a six-dimensional force sensor at the end to fulfill the experimental requirements.