The Yale human grasping dataset: Grasp,object,and task data in household and machine shop environments

Abstract

This paper presents a dataset of human grasping behavior in unstructured environments. Wide-angle head-mounted camera video was recorded from two housekeepers and two machinists during their regular work activities, and the grasp types, objects, and tasks were analyzed and coded by study staff. The full dataset contains 27.7 hours of tagged video and represents a wide range of manipulative behaviors spanning much of the typical human hand usage. We provide the original videos, a spreadsheet including the tagged grasp type, object, and task parameters, time information for each successive grasp, and video screenshots for each instance. Example code is provided for MATLAB and R, demonstrating how to load in the dataset and produce simple plots.

Keywords

Grasping manipulation multifingered hands dexterous

Get full access to this article

View all access options for this article.

References

Bullock

. (2013) Grasp frequency and usage in daily household and machine shop tasks. IEEE Transactions on Haptics 6(3): 296–308.

Cohen

(1960) A coefficient of agreement for nominal scales. Educational and Psychological Measurement 20(1): 37–46.

Conger

(1985) Kappa reliabilities for continuous behaviors and events. Educational and Psychological Measurement 45(4): 861–868.

Creative Commons Corporation (2014) Creative Commons - Attribution 4.0 International - CC BY 4.0. Available at: http://creativecommons.org/licenses/by/4.0/legalcode (accessed 10 July 2014).

Cutkosky

(1989) On grasp choice, grasp models, and the design of hands for manufacturing tasks. IEEE Transactions on Robotics and Automation 5(3): 269–279.

Feix

. (2009) A comprehensive grasp taxonomy. In: robotics, science and systems: workshop on understanding the human hand for advancing robotic manipulation, Seattle, WA.

Feix

Bullock

Dollar

(2014a) Analysis of human grasping behavior: Correlating tasks, objects and grasps. IEEE Transactions on Haptics. Epub ahead of print 24 September 2014. DOI: 10.1109/TOH.2014.2326867.

Feix

Bullock

Dollar

(2014b) Analysis of human grasping behavior: Object characteristics and grasp type. IEEE Transactions on Haptics 7(3): 311–323.

Kemp

(2005) A wearable system that learns a kinematic model and finds structure in everyday manipulation by using absolute orientation sensors and a camera. Massachusetts Institute of Technology.

10.

Mackenzie

Iberall

(1994) The Grasping Hand, Volume 104 (Advances in Psychology). 1st ed. Amsterdam: North Holland.

11.

Zingg

(1935) Beitrag zur Schotteranalyse. PhD Thesis, ETH Zürich, Switzerland.

Supplementary Material

Please find the following supplemental material available below.

For Open Access articles published under a Creative Commons License, all supplemental material carries the same license as the article it is associated with.

For non-Open Access articles published, all supplemental material carries a non-exclusive license, and permission requests for re-use of supplemental material or any part of supplemental material shall be sent directly to the copyright owner as specified in the copyright notice associated with the article.

0.00 MB