HAART contains 7 gestures: pat, contact without movement (press), rub, scratch, stroke, tickle and `no touch'. These gestures are the most heavily used of those in Yohanan et al’s Touch Dictionary , gathered to communicate emotion in human-animal interaction. For the HAART data set (collected from 10 participants), each touch action was performed on a 10x10 pressure sensor  for 10 seconds. To assess feature robustness under realistic operating conditions when installed on a robotic animal model, each participant contributed gestures with the sensor mounted on all permutations of 3 substrate conditions (firm and flat; foam and flat; foam and curve) and 4 cover conditions (none; short minkee; long minkee; synthetic fur). The resulting dataset includes 840 gesture-captures (12 conditions x 7 gestures x 10 participants). Each capture is 10 seconds of a continuously repeated gesture, sampled at 54 Hz and trimmed to the middle 8 sec (432 frames); there are generally 10-15 gesture instances per capture. This dataset is provided as a CSV file and includes the center 8x8 frame (trimmed for consistency with CoST) with pressure values ranging from 0 to 1023. Labels include gesture type, condition, and subject number.
 A. Flagg and K. E. MacLean. Affective touch gesture recognition for a furry zoomorphic machine. In Proceedings of the International Conference on Tangible, Embedded and Embodied Interaction (TEI), (Barcelona, Spain), pages 25–32. 2013.
 S. Yohanan and K. E. MacLean. The role of affective touch in human-robot interaction: Human intent and expectations in touching the haptic creature. International Journal of Social Robotics, 4(2):163–180, 2012.