KIHT-Public dataset

This dataset is composed of 149 recordings of adult writers, acquired on Tablet.

Every recording session generates files from the data acquisition mobile app. The sensor signals file has 13 columns: milliseconds, accelerometer front (x, y, z), accelerometer rear (x, y, z), gyroscope (x, y, z), magnetometer (x, y, z), and force signals. Tablet signal files contain milliseconds, position coordinates (x, y, z), and pressure force signals.

The transcription (labels) file contains labels and the start and stop time-stamps for every sample. Additional files concerning the sensor calibration and recording meta data are provided.

Data Acquisition

The recording process begins by selecting a set of predefined scripts to be written on the tablet surface using the Digipen. This dataset is made up of the two following recording processes:

KIHT_TABLET_MIXED, consists of 34 samples to be written one by one during a single recording session. It is composed of five groups: 15 characters, 10 words, 5 equations, 2 shapes and 2 word groups.
KIHT_TABLET_MIXED_EXTENDED, consists of 57 samples to be written one by one during a single recording session. It is composed of five groups: 30 characters, 10 words, 5 equations, 4 shapes and 8 word groups.

While recording, a user holds the pen’s on/off switch up, which is a natural way to take the Digipen due to grips designed on the pen to naturally position the fingers properly.

The dataset consists of data acquired on a tablet placed on a flat table, as well as data from a tablet placed on variable inclined planes. Both datasets (with or without the inclined-plane data) are provided below.

Sensors

Each Digipen is equipped with five sensors.

Front accelerometer (STM LSM6DSL)
Gyroscope (STM LSM6DSL)
Rear accelerometer (Freescale MMA8451Q)
Magnetometer (ALPS HSCDTD008A)
Force sensor (ALPS HSFPAR003A)

Sensor Data

The sensors’ raw data stream is provided in the files called sensor_data.csv. Each file consists of 15 columns:

Millis: The timestamp when the data were processed on the tablet computer that the pen was connected to during recording
Acc1 X, Acc1 Y, Acc1 Z: The values of the front accelerometer in three dimensions
Acc2 X, Acc2 Y, Acc2 Z: The values of the rear accelerometer in three dimensions
Gyro X, Gyro Y, Gyro Z: The gyroscope values in three dimensions
Mag X, Mag Y, Mag Z: The magnetometer values in three dimensions
Force: The force with which the pen tip touches the surface
Time: A sample counter

References

If you use the KIHT-Public dataset, you agree to cite the following reference:

[1] Florent Imbert, Eric Anquetil, Yann Soullard, Romain Tavenard. Mixture-of-experts for handwriting trajectory reconstruction from IMU sensors. Pattern Recognition, 2024, 161, pp.111231. ⟨10.1016/j.patcog.2024.111231⟩. ⟨hal-04811975⟩.

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