Raw data employed to perform the algorithm used in the scientific paper: "Kinematic reconstruction of the upper limb joints in planar robot-aided therapies

These files contain the raw data (acquired from different users) necessary to perform the algorithm introduced in the scientific paper:

PAPER: Kinematic reconstruction of the upper limb joints in planar robot-aided therapies

Authors: Arturo Bertomeu-Motos, Ricardo Morales, Jorge A. Díez, Luis D. Lledó, Francisco J. Badesa, Nicolas Garcia-Aracil

Conference: ICORR 2015, IEEE 14th International Conference on Rehabilitation Robotics, August 2015

All the orientations are expressed regarding the origin of the robot.

a) Robot Joints: Planar robot joints acquired during the experiment, in radians (j1-j3 columns). This robot is referenced in the paper.
b) Quaternion IMU shoulder: Unit quatenion acquired through a 9DoFs Inertial Measurement Unit (IMU) developed by Shimmer (qw1-qz columns).
c) Upper arm acceleration: Acceleration acquired from a 3-axial accelerometer developed by Shimmer (X-Z columns). It is normalized regarding the gravity (9.81m/s^2).
d) Quaternion Tracker onto Shoulder: unit quaternion of the tracker placed onto the shoulder acquired from the tracking camera V120:trio developed by Optitrack (qw1-qz columns).
e) Quaternion Tracker onto Upper Arm: unit quaternion of the tracker placed onto the upper arm acquired from the tracking camera V120:trio developed by Optitrack (qw1-qz columns).