The collected data includes measurementsobtained on April 25, 2022, which can be used for electronic skin calibration.

When using this data please cite: 
Klimaszewski, J.; Wildner, K.; Ostaszewska-Liżewska, A.; Władziński, M.; Możaryn, J.; Robot Based Calibration Procedure For Graphene Electronic Skin, Sensors, 2022

A detailed description of the research can be found in the aforementioned publication.
Data acquired during experiments are stored in 720 text files in total (10 rows x 18 columns x 4 data sets). These files contains measurements from the Hex-e reference force sensor and the e-skin matrix (data and timestamps for the synchronisation), obtained during increasing (loading phase) and decreasing (unloading phase) the force exerted by the robotic arm on each of the e-skin sensors, respectively (4 data sets per sensor being calibrated). Each file contains an appropriate header required for data identification. The transition between recording data associated with the ‘loading’ and ‘unloading’ phase was triggered by the actual robot position. 

The following is an example of an electronic skin file header with some columns selected. The number of columns in the e-skin data file is huge because it corresponds to the number of matrix sensors. For each sensor, the range of pressure measurements returned is from 0 to 255, which are unitless values. This data format does not say much about the value of the acting force. Therefore it is necessary to calibrate the electronic skin, thanks to which the read data would be returned in Newtons.

#ID ES_1_V1
#SIZE ROW 16 COL 32
#DIR UNLOAD
#sensor: robotic_skin
#coord: row_6_col_4
time_stamp	sample_counter	row_0_col_0	row_0_col_1	row_0_col_2	row_0_col_3

Force measurements returned by the reference sensor are stored in Newtons for forces and Newton meters for torque. Sample file header for a reference force sensor: 

#ID ES_1_V1
#SIZE ROW 16 COL 32
#DIR UNLOAD
#sensor: hex
#coord: row_6_col_4
system_time	status	sequence_number	hex_sample_counter	Fx	Fy	Fz	Tx	Ty	Tz

In order to synchronise the timing of the measurements, the values from the time_stamp and system_time columns must be matched against each other. F - exerted force, T - torque.
