HUST Upper Limb Natural Motion Dataset

This folder contains a collected dataset of natural human upper limb movements. The movement paradigm consists of natural grasping motions within the human reachable workspace, including 7 directional gradients in the left-right axis, 3 distance gradients in the front-back axis, and 2 height gradients in the up-down axis, resulting in a total of 42 movements (grasping motions at singular positions were excluded in practice). Among them, the first column represents shoulder internal-external rotation angles, the second column represents shoulder flexion-extension angles, the third column represents shoulder abduction-adduction angles, the fourth column represents elbow flexion-extension angles, and the fifth column represents elbow pronation-supination angles. All data are time-normalized. Each Excel file contains 120 rows, corresponding to an actual movement duration of 1 second. The movement starts from the natural resting position of the upper limb and ends with a horizontal grasping motion targeting a small ball within the workspace.