[Submitted on 16 Sep 2026]
Title:OHRID-Retail: An Open Multimodal Dataset of Human Activity in Retail Environments
View a PDF of the paper titled OHRID-Retail: An Open Multimodal Dataset of Human Activity in Retail Environments, by Xiangrui Wang and 8 other authors
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Abstract:Open datasets describing human behavior in environments shared with mobile robots remain limited, particularly for retail activities that combine locomotion, reaching, object handling, and robot guided movement. This paper introduces OHRID Retail, an open, human centered multimodal dataset collected from 16 healthy adults performing a simulated shelf picking task under three within participant conditions: no robot, low speed robot guidance, and high speed robot guidance. Each participant completed two trials per condition. Whole body kinematics were recorded using 17 Xsens Awinda inertial sensors and muscle activity was measured at 10 locations using Delsys Trigno surface electromyography sensors. Descriptive analyses demonstrate variation in whole body movement intensity and muscle activation across robot interaction conditions and body locations. OHRID Retail provides openly available raw recordings, processed measures, documentation, and reproducible analysis resources. The dataset can support research in human activity recognition, multimodal sensor fusion, occupational biomechanics, ergonomics, human aware robot navigation, and human robot interaction in retail and related shared environments.
Subjects:
Robotics (cs.RO); Human-Computer Interaction (cs.HC)
Cite as: arXiv:2609.19302 [cs.RO]
(or arXiv:2609.19302v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.19302
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Yuetong Wu [view email] [v1] Wed, 16 Sep 2026 18:12:07 UTC (755 KB)
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