Acquisition Protocol
The first Ninapro database acquisition protocol is thoroughly described in the papers: "Manfredo Atzori, Arjan Gijsberts, Ilja Kuzborskij, Simone Heynen, Anne-Gabrielle Mittaz Hager, Olivier Deriaz, Claudio Castellini, Henning Müller and Barbara Caputo. Characterization of a Benchmark Database for Myoelectric Movement Classification. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2014" ( and "Manfredo Atzori, Arjan Gijsberts, Claudio Castellini, Barbara Caputo, Anne-Gabrielle Mittaz Hager, Simone Elsig, Giorgio Giatsidis, Franco Bassetto & Henning Müller. Electromyography data for non-invasive naturally-controlled robotic hand prostheses. Scientific Data, 2014" (
Please, cite these papers for any work related to the first Ninapro database.

Please, use also the paper by Atzori et al. 2012 ( ) for more information about the database.

The first Ninapro database includes 10 repetitions of 52 different movements of 27 intact subjects.
The subjects have to repeat several movement represented by movies that are shown on the screen of a laptop.
The experiment is divided in three exercises:
1. Basic movements of the fingers
2. Isometric, isotonic hand configurations and basic wrist movements
3. Grasping and functional movements
The sEMG data are acquired using 10 Otto Bock MyoBock 13E200 electrodes, while kinematic data are acquired using a Cyberglove 2 data glove.

Data Sets

For each exercise, for each subject, the database contains one matlab file with synchronized variables.
The variables included in the matlab files are:
- subject: subject number
- exercise: exercise number
- emg (10 columns): sEMG signal of the electrodes
- glove (22 columns): uncalibrated signal from the 22 sensors of the cyberglove
- stimulus (1 column): the movement repeated by the subject.
- restimulus (1 column): again the movement repeated by the subject. In this case the duration of the movement label is refined a-posteriori in order to correspond to the real movement
please, use the paper Gijsberts et al., 2014 ( for more details about relabelling procedure
- repetition (1 column): repetition of the stimulus
- rerepetition (1 column): repetition of restimulus

The cyberglove signal corresponds to raw data from the cyberglove sensors located as shown in the following pictures.
The raw data are declared to be proportional to the angles at the joints in the CyberGlove manual.