The Yale human grasping dataset: Grasp, object, and task data in household and machine shop environments. (March 2015)

• Record Type: Journal Article
• Authors: Bullock, Ian M.; Feix, Thomas; Dollar, Aaron M.
• Is Part Of: International journal of robotics research. Volume 34:Number 3(2015:Mar.)
• Page Start: 251
• Page End: 255
• Publication Date: 2015-03
• Subjects: Grasping -- manipulation -- multifingered hands -- dexterous; Robots -- Periodicals; Robots, Industrial -- Periodicals; 629.89205
• DOI: 10.1177/0278364914555720
• Languages: English
• ISSNs: 0278-3649

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.