Replicating dynamic humerus motion using an industrial robot dataset

This dataset encompasses all of the data utilized to replicate humeral kinematics, as captured via skin marker motion capture, on a FANUC M20ia industrial robot. The activities replicated include 119 jumping jacks, 15 jug lifts, 105 jogging trials, and 15 rapid internal rotation trials. An Optotrak Certus optical tracking system was utilized to record the kinematics of the humerus as actuated by the robot (also included in this dataset) in order to compare the robotically replicated trajectories against the motion capture trajectories. This dataset is intended to accompany the "Mocap to Robot" software package that provides an algorithmic pipeline for mapping motion capture trajectories to robotically replicated motion.

Related publication can be found at: https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0242005