These files contain the raw data (acquired from different users) necessary to perform the algorithm introduced in the scientific paper: PAPER: Kinematic reconstruction of the upper limb joints in planar robot-aided therapies Authors: Arturo Bertomeu-Motos, Ricardo Morales, Jorge A. Díez, Luis D. Lledó, Francisco J. Badesa, Nicolas Garcia-Aracil Conference: ICORR 2015, IEEE 14th International Conference on Rehabilitation Robotics, August 2015 All the orientations are expressed regarding the origin of the robot. a) Robot Joints: Planar robot joints acquired during the experiment, in radians (j1-j3 columns). This robot is referenced in the paper. b) Quaternion IMU shoulder: Unit quatenion acquired through a 9DoFs Inertial Measurement Unit (IMU) developed by Shimmer (qw1-qz columns). c) Upper arm acceleration: Acceleration acquired from a 3-axial accelerometer developed by Shimmer (X-Z columns). It is normalized regarding the gravity (9.81m/s^2). d) Quaternion Tracker onto Shoulder: unit quaternion of the tracker placed onto the shoulder acquired from the tracking camera V120:trio developed by Optitrack (qw1-qz columns). e) Quaternion Tracker onto Upper Arm: unit quaternion of the tracker placed onto the upper arm acquired from the tracking camera V120:trio developed by Optitrack (qw1-qz columns).

This work is part of the project "Adaptive Multimodal Interfaces to Assist Disabled People in Daily Activities" funded by the European Commission's Horizon 2020 Framework Programme, Call number ICT-22-2014: Multimodal and Natural computer interaction, under Grant Agreement No 645322.