A Physical Human-Robot Interaction Dataset - TacAct

This dataset is the supplementary material of the IROS 2021 article "Organization and Understanding of a Tactile Information Dataset TacAct During Physical Human-Robot Interactions".
The dataset was collected by a flexible supercapacitor tactile sensor installed in an imitated mechanical arm device. In a 32 × 32 grid, the sensor data can be sampled at 100 Hz (100 frames per second).  A total of 12 touch actions, namely, pull, squeeze, push, hold, grasp, poke, static drag, strong hit, soft slide, scratch, soft tap, and sliding drag, were recorded. A single-action collected from a subject consists of a 32×32×N matrix (where N is the number of frames or frame length). For the same action, all subjects were asked to use as many postures as possible to apply different forces to different positions of the sensor, and repeat 20 times with each hand. Except for strongly hit and soft tap (complete in an instant, acquisition time 2 s), the duration of each action is 2 s, and the time is 4 s altogether. The experiment was conducted on 50 subjects (36 males and 14 females,ranged from 22 to 36 years and 44 were right-handed) in total, each subject consists of 480 actions (12 actions × 40 repetitions ) in total, and the dataset collected 24,000 actions from the subjects.