A Data Library of One and Two-Handed Manipulation of Large Objects from Everyday Living Combined with Locomotion: A Foundation for Roboticists and Virtual Reality and Gaming Engineers

The purpose of this paper is to provide researchers with a description of a data library representing humans interaction with medium to large sized objects from everyday living. The library includes motion capture data characterizing human and object motion as well as data for characterizing haptic interaction with the object via force and torque measurements via a load cell and inertial measurement unit (IMU) readings of the object accelerations. Objects include a box, luggage, briefcase, walker, shopping cart, wheelbarrow, and door. Data collected includes multiple types of interactions with each object, such as manipulating the object and walking while interacting with the object (e.g., pulling, pushing, carrying, operating, etc.). Data processing techniques for synchronizing data, deriving human biomechanics, and segmenting trials are presented. The database will be available on AddBiomechanics, SimTK, and github.