A multi-sensory dataset for the activities of daily living

The dataset contains multiple instances of 9 Activities of Daily Living (ADL)-related actions namely Walk, Sit Down, Stand Up, Open Door, Close Door, Pour Water, Drink Glass, Brush Teeth and Clean Table. Each of the 10 volunteers performed each activity at least 14 times, with the notable exception of the walking activity that has been performed 40 times, in different sequences and alternating the used hand. For each volunteer, the dataset contains 7 CSV files, i.e., one file for each of the 6 IMU sensors worn by the volunteer on different body parts, as described in Figure 1, namely left lower arm (lla.csv), left upper arm, (lua.csv), right lower arm (rla.csv), right upper arm (rua.csv) and right thigh (rt.csv). Each file contains the overall sequence recorded during the experiment. The first column contains a label "qags" indicating the type of recorded data (quaternions, acceleration, angular velocity). The next column is the time-stamp in milliseconds elapsed from 00:00:0.000 AM (with a 30 milliseconds sampling time). The next four columns are the quaternions (with a resolution of 0.0001 ). Following them, we have three columns with the accelerations along the x, y and z axes (with a 0.1 mG resolution). The last three columns refer to the angular velocity about the x, y and z axes (with a 0.01 dps resolution). The last CSV file (annotation.csv) contains the data labelling. The first two columns of this file contain the time in the format hh.mm.ss.000 (current day time) and in milliseconds elapsed from 00:00:0.000 AM. All the remaining columns are organised as couples where the first element represents the scope of the labelling and the second indicates whether the labelled activity is starting or ending. In the annotation file, there are four different labelling scopes.

• “BothArms”: all instances of each activity are labelled independently of which arm has been used;
• “RightArm”: are labelled the activity instances using only the right arm, or in case they belong to the Walk, Sit Down or the Stand Up activities;
• “LeftArm”: are labelled the activity instances using only the left arm, or in case they belong to the Walk, Sit Down or the Stand Up activities;
• “Locomotion”: in this scope are labelled only the instances of Walk, Sit Down and Stand Up.

Finally, the last two columns report a session ID. There are four different sessions characterised by the order in which the activities are performed, and by the used arm (see also Table 3), and whether the session starts or ends. The videos recorded during the experiments have been only used for labelling purposes, and they are not published.

Together with the dataset, we provide a MATLAB script named TimeStampExtraction.m that extract from the annotation and the data files, for each volunteer and for each sensor, the time stamp associated with the start and end of each ADL.

本数据集包含9项与日常生活活动（Activities of Daily Living, ADL）相关的动作实例，具体包括行走、坐下、站起、开门、关门、倒水、持杯饮水、刷牙及清洁桌面。10名志愿者每项动作均完成至少14次，仅行走动作完成40次，所有动作均以不同序列执行，并交替使用左右手。
针对每名志愿者，数据集共包含7个CSV文件：其中6个对应其穿戴于不同身体部位的6个惯性测量单元（Inertial Measurement Unit, IMU）传感器，如图1所示，分别为左前臂（lla.csv）、左上臂（lua.csv）、右前臂（rla.csv）、右上臂（rua.csv）及右大腿（rt.csv）；剩余1个为annotation.csv标注文件。各传感器对应的数据文件包含实验期间记录的完整序列：第一列为标签“qags”，用于指示记录数据的类型（四元数、加速度、角速度）；第二列为自00:00:0.000起的毫秒级时间戳，采样间隔为30毫秒；后续四列为四元数数据，分辨率为0.0001；紧随其后的三列为x、y、z轴方向的加速度数据，分辨率为0.1毫高斯（mG）；最后三列为x、y、z轴方向的角速度数据，分辨率为0.01度每秒（dps）。
annotation.csv文件用于数据标注，其前两列分别为hh.mm.ss.000格式的当日时间，以及自00:00:0.000起的毫秒级时间戳；剩余所有列均以列对形式组织，首元素表示标注范围，次元素指示对应动作的起始或结束。标注范围共分为四类：
• "双侧手臂（BothArms）"：无论使用哪只手臂，所有动作实例均纳入标注；
• "右手臂（RightArm）"：仅使用右手完成的动作实例纳入标注；若动作属于行走、坐下或站起类别，则无论手臂使用情况均纳入标注；
• "左手臂（LeftArm）"：仅使用左手完成的动作实例纳入标注；若动作属于行走、坐下或站起类别，则无论手臂使用情况均纳入标注；
• "运动类（Locomotion）"：仅行走、坐下及站起的动作实例纳入标注。
该文件最后两列为会话ID，共存在四类会话，其区分依据为动作执行顺序、所用手臂（详见表3）以及会话的起始/结束状态。实验期间录制的视频仅用于标注用途，未公开发布。
本数据集附带一个名为TimeStampExtraction.m的MATLAB脚本，可针对每名志愿者及每个传感器，从标注文件与数据文件中提取与每项日常生活活动起止时刻对应的时间戳。