HAART: The Human-Animal Affective Robot Touch
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.
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 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.