Vibrations in Tool-mediated Interactions: Three-Dimensional Accelerations and Corresponding Videos during Human-Surface Haptic Interactions

This is a dataset of 32 five-second-long vibration recordings. One human used a metal tool to perform one of two tool-mediated surface interactions (tapping or dragging) on the following four different surfaces: sandpaper (hard and rough), acrylic plastic (hard and smooth), rough paper (soft and rough), and rubber (soft and smooth). Each of the eight combinations of interaction and surface were recorded four times.
The vibration data were recorded with an accelerometer (ADXL354, Analog Devices) rigidly mounted to the tool. The sampling rate was 10,000 Hz in all three axes. The accelerations are measured in g (equal to 9.81 m/s^2) and saved in csv format. We provide versions with no filtering, high-pass filtering at 20 Hz, and two band-pass filters. The xyz coordinate frame for the sensor’s data can be seen in "DataSet.jpg”. We provide sample MATLAB scripts for loading and plotting the data. An mp4 video of each recorded interaction is also provided.