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This text describes the data presented in the paper: “A Quaternion Weighted Fourier Linear Combiner for Modeling Physiological Tremor”. 

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Introductory information
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Files included in the data deposit (include a short description of what data are contained): 

1) Data is the record of Hand position (3D) and hand grip force recorded while performing pointing and tracing task for 30S. The data recording of hand position is in millimetres (mm) and force data is recorded in Newton (N). 
2) 5 novice subjects and 4 surgeons took part in the data recording. Five medical students with basic surgical skills (novice group) and four experienced microsurgeons (surgeon group) took part in this study. All subjects gave their informed written consent before participation. The study was approved
by the local ethics committee at Nanyang Technological University. 



Explain the relationship between multiple data sets, if required:
Same procedure of date recording is repeated among 9 subjects for two different tasks pointing and tracing.  

Key words used to describe the data:
Tremor Data, Hand motion, Grip force. 






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Methodological information
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A brief method description – what the data is, how and why it was collected or created, and how it was processed:
Data is the record of 3D Hand motion in x, y and z axes and hand grip force while performing tasks which are very similar micro manipulation performed in actual microsurgeries. Two types of tasks are performed for 30s while recording the data, (i) pointing and (ii) tracing task. 

With the motivation to develop smart handheld surgical instrument capable of tracking and cancelling tremor during microsurgery, the optical micro motion sensing system (M2S2) was developed. This system is developed to collect the data of hand motion while performing some realistic tasks similar to the micro-manipulation tasks performed during real microsurgeries.

M2S2 sensing system has an embedded microsensing system with two orthogonally-placed position sensitive detectors to track 3-D displacement of the tip of a hand held microsurgical instrument. An IR diode illuminates the workspace and the 3-D displacement of a small white ball, which is placed at the tip of the stylus, is calculated by the centroid position of the reflected infra-red rays onto the detectors.  A force sensor (FSG15N1A, Honeywell Sensing and Control, USA) is mounted on the stylus to measure the grip force (range: 0 - 15N). The position and force data are digitized at 250 samples per second with a data acquisition card (PD2-MF-16-150, United Electronic Industries, USA) with a 16 bits resolution. 

Instruments, hardware and software used: 
A force sensor (FSG15N1A, Honeywell Sensing and Control, USA) is used to measure grip force. 
The position and force data are digitized at 250 samples per second with a data acquisition card (PD2-MF-16-150, United Electronic Industries, USA) with 16-bit resolution. For further details, the readers are referred to read references [28]–[30] on our paper.


Date(s) of data collection: 


Geographic coverage of data:



Data validation (how was the data checked, proofed and cleaned):
To generate an appropriate reference signal for our adaptive algorithms, we pre-filtered (offline) the recorded position and force data in each axis independently with a zero-lag 5th-order Butterworth digital filter with a passband of (5 - 20Hz). The position data has been converted to meters for processing but the force data is kept in newton as recorded. 


Overview of secondary data, if used:



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Data-specific information
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Definitions of names, labels, acronyms or specialist terminology uses for variables, records and their values: 
There are 5 novice subjects, data are saved with acronyms of their names  'an' 'bu' 'ei' 'ku' 'lu' and for surgeons acronyms used are 'de' 'sh' 'so' 'we'. 


Explanation of weighting and grossing variables: 
The position data is acquired in millimetre which is converted to meter for processing and finally in while plotting the results are plotted in micrometre. 

Outline any missing data:
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Contact
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Please contact rdm@ncl.ac.uk for further information