Building the Ninapro database: A resource for the biorobotics community

Abstract

This paper is about (self-powered) advanced hand prosthetics and their control via surface electromyography (sEMG). We hereby introduce to the biorobotics community the first version of the Ninapro database, containing kinematic and sEMG data from the upper limbs of 27 intact subjects while performing 52 finger, hand and wrist movements of interest. The setup and experimental protocol are distilled from existing literature and thoroughly described; the data are then analysed and the results are discussed. In particular, it is clear that standard analysis techniques are no longer enough when so many subjects and movements are taken into account. The database is publicly available to download in standard ASCII format. The database is an ongoing work lasting several years, which is planned to contain data from more than 100 intact subjects and 50 trans-radial amputees; characteristics of the amputations, phantom limbs and prosthesis usage will be stored. We therefore hope that it will constitute a standard, widely accepted benchmark for all novel myoelectric hand prosthesis control methods, as well as a fundamental tool to deliver insight into the needs of trans-radial amputees.