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.0242005This work is supported by the US Army Medical Research and Materiel Command under Contract #W81XWH-15-C-0058, the National Institutes of Health (R01 AR067196), a Merit Review Award #I01RX001246 from the United States Department of Veterans Affairs Rehabilitation Research and Development Service, and the University of Utah Undergraduate Research Opportunity Program. The views, opinions and/or findings contained in this report are those of the authors and should not be construed as an official Department of the Army or National Institutes of Health position, policy or decision unless so designated by other documentation. Furthermore, the contents do not represent the views of either the U.S. Department of Veterans Affairs, or the United States Government