CARRT - Motion Capture Data for Robotic Human Upper Body Model

As advancements in the study of human activity have progressed in recent years, researchers have directed their attention towards analyzing human daily activities to investigate a diverse range of performance metrics unconsciously optimized by individuals while engaged in specific tasks. To replicate these movements in robotic systems based on human models, researchers have developed a framework for robot motion planning capable of utilizing various optimization methods to reproduce such motions through human demonstrations. In this process, capturing the movements of the human body and the objects involved in the demonstrations is imperative, as they provide essential information for the motion planning procedure. The objective of this dataset is to present human motion data while performing activities of daily living. This dataset encompasses comprehensive and precise whole-body motion data of individuals collected using a Vicon motion capture system, which facilitated the development of a full-body model integrated into OpenSim and MATLAB. The dataset comprises nine different daily living activities and eight Range of Motion activities performed by ten healthy participants. A publicly accessible whole-body human motion database has been established, encompassing raw motion data in .c3d format, motion data in .csv format for the OpenSim model, and post-processed motion data for the MATLAB model.