The OpenArm data set is a factorial set of volumetric scans of the arm, generated using ultrasound and motion capture, that allows for analysis of both force- and configuration-associated muscle deformation for applications in biomechanics research, computer graphics, and assistive device development.

We invite anyone in the research community to use the OpenArm data set to validate existing muscle deformation models or to devise new ones.

Full details can be found in the following paper:

Laura Hallock, Akira Kato, and Ruzena Bajcsy. "Empirical quantification and modeling of muscle deformation: Toward ultrasound-driven assistive device control." In IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018. (

This project is currently in development in the Human-Assistive Robotic Technologies (HART) Lab at the University of California, Berkeley (


First OpenArm 3D muscle deformation data set released!

Nov 29, 2018

The first generation of the OpenArm data set has now been ported from our lab website to the SimTK community!

See all News


Download our full factorial data set of multi-subject arm muscle deformation here!

See all Downloads