Benchmark movement data set for trust assessment in human robot collaboration

In the Drapebot project, a worker is supposed to collaborate with a large industrial manipulator in two tasks: collaborative transport of carbon fibre patches and collaborative draping. To realize data-driven trust assessement, the worker is equipped with a motion tracking suit and the body movement data is labeled with the trust scores from a standard Trust questionnaire (Trust perception scale - HRI, Schaefer 2016).

Data has been collected in the transport and draping tasks (counterbalanced) from 20 participants,  7 female and 13 male, average age 25 (SD = 4.0). Average height was 1.74 meters (SD = 0.1). One session consists of 24 trials on average for the transport and draping task resulting in 951 trials across all conditions. For all sessions, body tracking was performed using the Xsens MVN Awinda tracking suit. It consists of a tight-fitting shirt, gloves, headband, and a series of straps used to attach 17 IMUs to the participant. After calibration the system uses inverse kinematics to track and log the movements of the participant at a rate of 60 Hz. The measurements include linear and angular speed, velocity, and acceleration of every skeleton tracking point (see XSENS manual for a detailed description of avaiable measurements).

Data organization

There are 20 files for 20 participants of each task accordingly (transport and draping). The name of the files is P01SD, where the number 01 is the participant the D stands for draping. Accordingly, P01ST stands for transport. Each file contains all the data that was generated from the XSENS motion capture system. The files are xlsx files and for each sheet inside the excel file there are different types of data:

Segment Orientation - Quat

Segment Orientation - Euler

Segment Position

Segment Velocity

Segment Acceleration

Segment Angular Velocity

Segment Angular Acceleration

Joint Angles ZXY

Joint Angles XZY

Ergonomic Joint Angles ZXY

Ergonomic Joint Angles XZY

Center of Mass

Sensor Free Acceleration

Sensor Magnetic Field

Sensor Orientation - Quat

Sensor Orientation - Euler

See also: https://base.movella.com/s/article/Output-Parameters-in-MVN-1611927767477?language=en_US

For more information on each specific data and/or sensors please see the xsens manual (Link above)

Data Annotation

For each procedure there is an annotation file called sorted_draping.xlsx and sorted_transport.xlsx. In these files the first column is the frame and from column 2 until column 21 are the annotations for each procedure for each participant. The annotations describe the different phases during the procedures for each data frame recorded by xsens:

Transport phases: pick, transport, drop, return

Draping phases: approach, draping, return

The file trustscores.xlsx includes some demographic data as well as the results of the trust questionaire for each participant and each task, including the scores for the individual items as well as the calculated trust score. The different columns are:

Subject: participant number for crossreferencing with annotation and movement data

Transport.Speed: denoting the robot speed (fast or slow)

Age: age of the participant

Gender: gender of the participant

DominantHand: dominant hand of the participant (left or right)

Height: height of the participant

Score for answers of the participant in related questions category.

This is followed by the trust questionaire items:

Which % of time does the robot

Function successfully

Act consistently

Communicate with people

Provide feedback

Malfunction

Follow directions

Meet the needs of the mission

Perform exactly as instructed

Have errors

Which % of the time is the robot:

Unresponsive

Dependable

Reliable

Predictable

The last two columns are

TrustScore – Final trust score calculated from all questions

Task – Which task is being performed (Transport/Draping)