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RGB+skeleton dataset for industrial human action recognition in a collaborative-robotics context: 16 subjects performing assembly actions alongside a robot, labeled into 13 action and 74 meta-action classes. Skeleton data from a Perception Neuron suit at 120 Hz plus three synchronized RGB views. Presented at IEEE ICHMS 2020 (doi:10.1109/ICHMS49158.2020.9209531).

Details

Subjects

n = 16

Protocol / load

Industrial assembly actions in a human-robot collaboration cell; 13 action classes, 4,800+ action samples, 2M+ frames

Equipment

Perception Neuron 32 inertial mocap suit (17 joints, BVH skeletons); three Logitech C920 RGB cameras (two side views at ±45°, one top view)

Sampling

mocap 120 Hz

Formats

mp4, csv

License

CC-BY-4.0

Keywords

activity-recognition, har, human-robot-collaboration, assembly, skeleton, manufacturing

Added to catalog

2026-08-25

Cite

Cite the dataset as its authors request (check the source page for an official citation); this BibTeX is a convenience starting point.

@misc{inhard,
  author = {Dallel, M. and Havard, V. and Baudry, D. and Savatier, X.},
  title  = {{InHARD: Industrial Human Action Recognition Dataset}},
  year   = {2020},
  doi    = {10.5281/zenodo.4003541},
  url    = {https://doi.org/10.5281/zenodo.4003541},
}