Collision Detection in Physical Human Robot Interaction

Collision detection dataset with 1114 samples is subdivided into 5 classes, namely No-contact, Intentional_Link5, Intentional_Link6, Incidental_Link5, Incidental_Link6, which determine the contact state on the last two links of Franka Emika Panda robot including their respective type, incidental or intentional. three different size dimensions of 100, 200, and 300 unity are corresponding to 0.5, 1, 1.5 seconds of sampling period duration (dt=5 ms).