RPC-Net Dataset. Simultaneous HD-sEMG Recordings on the Forearm and angles of a 24-DOF Hand Kinematic Model

This data set refers to the journal paper "Developing RPC-Net: Leveraging High-Density electromyography and Machine Learning for Improved Hand Position Estimation", currently undergoing peer-review. We report the data acquisition process as defined in the paper. Please refer to the updated figures (fig1.png and fig2.png) and to the original paper for additional information about the acquisition process: High-Density surface EMG data:EMG was recorded on the surface of the forearm using the MEACS system, the EMG amplifier developed at LISiN (Politecnico di Torino, Turin, Italy). The system is made up of multiple Sensor Units (SU), each measuring 34 mm x 30 mm x 15 mm and sampling 32 channels at fs=2.048 kHz (192 V/V gain, 16 bit resolution, 2.4 V dynamic range). Three SUs were used, each connected to an anisotropic electrode array (2 rows and 16 columns, with 10 mm and 15 mm inter-electrode distance respectively) for a total of N=96 acquired monopolar electromyographic channels. The electrodes were arranged in 6 rows and 16 columns around the circumference of the forearm, covering approximately a third of its length (Fig. 1). The proximal row of electrodes (row 1) was positioned at 20 \% of the distance between the medial epicondyle and the pisiform bone. The reference electrode was positioned on the lateral epicondyle. The electromyographic signal was used as input for RPC-Net during the phases of training and testing. Hand position data:Hand position data were acquired using a motion capture system (VICON Motus; VICON Motion Systems, Centennial, Oxford, UK) sampling at 100 samples/s. The setup included 12 infrared cameras (Vero v2.2). A total of Mh=21 infrared reflective markers (diameter of 6 mm) were positioned on the dominant hand of the subject, embedded in a glove. Additionally, 12 markers were placed on the arm, chest and back, resulting in M=33 markers in total (Fig. 1). The hand position data, translated to joint angles using the Inverse Kinematic Algorithm (IKA) defined below, was used both as input and to provide the target values for the training phase of RPC-Net.