ERGD dataset
Description
A recording protocol was designed to capture 28 postures with varying ergonomic risk levels based on the European Assembly Worksheet (EAWS). Ten healthy individuals consented to participate in MoCap recordings. The subjects consisted of three women and seven men. The average age was 28.7±4.6 years, with an average height of 172.9±9.2 cm, and the average weight was 70.5±12.9 kg. None of them sustained musculoskeletal injuries, and they all completed all trials in under one hour.
Each posture was repeated three times, giving a total of 84 MoCap recordings per subject. The recorded postures were neutral as they were not associated with a specific activity but rather served solely to demonstrate several ergonomically incorrect postures. The postures can be divided into three main categories: those performed standing, those performed seated on a chair, and those executed while kneeling. The postures are progressing from comfortable postures to increasingly more uncomfortable but never dangerous ones. All postures were held for six seconds, and no particular discomfort was reported.
Name convention and segmentation
Standing:
- P01: The subject stays in I-pose
- P02: The subject rotates his/her torso to the left as far the person can
- P03: The subject will laterally bend his/her torso to the left for 6 seconds
- P04: The subject bends more than 20° but less than 60°
- P05: The subject bends more than 20° but less than 60° while rotating and laterally bending the torso to the left
- P06: The subject stretches his/her arms, and bends forward more than 20° but less than 60° while rotating and laterally bending the torso to the left
- P07: The subject bends more than 60°
- P08: The subject bends more than 60° while rotating and laterally bending the torso to the left
- P09: The subject stretches his/her arms, and bends forward more than 60° while rotating and laterally bending the torso to the left
- P10: The subject upright, raises the elbows above the shoulder level with the forearms bent 90° (
- P11: The subject raises the elbows above the shoulder level with the forearms bent 90° while rotating and laterally bending the torso to the left
- P12: The subject raises the elbows above the shoulder level with the arms stretched while rotating and laterally bending the torso to the left
- P13: The subject upright, raises the hands above the head
- P14: The subject raises the hands above the head with the arms stretched while rotating and laterally bending the torso to the left
Sitting on a chair:
- P15: The subject sits upright
- P16: The subject bends forward more than 60°
- P17: The subject bends forward more than 60° while rotating and laterally bending the torso to the left
- P18: The subject stretches the arms, and bends forward more than 60° while rotating and laterally bending the torso to the left
- P19: The subject raises the hands above the head with arms stretched
- P20: The subject raises the hands above the head with the arms stretched while rotating and laterally bending the torso to the left
Kneeling:
- P21: The subject stays upright
- P22: The subject rotates the torso to the left as far he/she can
- P23: The subject will laterally bend the torso to the left for 6 seconds
- P24: The subject bends more than 60°
- P25: The subject bends more than 60° while rotating and laterally bending the torso to the left
- P26: The subject stretches the arms, and bends forward more than 60° while rotating and laterally bending the torso to the left
- P27: The subject upright, raises the elbows to the shoulder level with the arms stretched
- P28: The subject raises the elbows to the shoulder level with the arms stretched while rotating and laterally bending the torso to the left
P09
P18
P26
Metrics
Gesture recognition
| Method | Motion descriptors | Number of classes | Accuracy | F1-score |
|---|---|---|---|---|
| HMMs | Joint angles from all 52 IMUs | 28 | 0.916 | 0.902 |
| HMMs | Joint angles from: RFA and H | 28 | 0.738 | 0.735 |
| HMMs | Joint angles from: LA, RSH1, LFA,SP2, RUL | 28 | 0.927 | 0.917 |
| Rocket | Joint angles from all 52 IMUs | 28 | - | 0.929 |
| Rocket | Joint positions from all 52 IMUs | 28 | - | 0.928 |
| Rocket | Joint angles from: LA, RSH1, LFA,SP2, RUL | 28 | - | 0.988 |
* Hidden Markov Models (HMMs); Rocket network.
Motion generation
| Method | MAE | RMSE | Average U1 |
|---|---|---|---|
| KF-GOM | 13.461 | 21.732 | 0.395 |
| KF-RGOM | 13.569 | 15.126 | 0.274 |
| VAE-RGOM | 0.095 | 1.134 | 0.010 |
| ATT-RGOM | 0.198 | 1.279 | 0.015 |