The OpenArm data sets are designed to enable study of force- and kinematic-induced muscle deformation for applications in biomechanics research, computer graphics, and assistive device development.

**NEW:** The OpenArm Multisensor 1.0 data set contains time series cross-sectional ultrasound scans of the brachioradialis muscle under variable elbow loading, alongside corresponding surface electromyography (sEMG), acoustic myography (AMG), and force data.

The OpenArm 1.0 and 2.0 data sets encompass factorial sets of volumetric scans of the arm, generated using ultrasound and motion capture, that allow for analysis of both force- and configuration-associated muscle deformation.

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

Full details can be found in the following papers:

Laura Hallock, Akash Velu, Amanda Schwartz, and Ruzena Bajcsy. "Muscle deformation correlates with output force during isometric contraction." In IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics (BioRob). IEEE, 2020. (Available at

Yonatan Nozik*, Laura A. Hallock*, Daniel Ho, Sai Mandava, Chris Mitchell, Thomas Hui Li, and Ruzena Bajcsy, "OpenArm 2.0: Automated Segmentation of 3D Tissue Structures for Multi-Subject Study of Muscle Deformation Dynamics," in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), IEEE, 2019. *Equal contribution. (Available at

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. (Available at

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


OpenArm Multisensor data set and muscle contour tracking code released + slated for presentation at ASB & BioRob!

Jul 24, 2020

Our new time series muscle force/deformation/sEMG data set, OpenArm Multisensor, has now been released to the OpenArm database!

OpenArm 2.0 data set released + scheduled for presentation at EMBC Berlin!

Jul 16, 2019

The OpenArm 2.0 muscle deformation data set has now been released to SimTK, and is scheduled for presentation at EMBC 2019 in Berlin!

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!

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Download our time series and volumetric muscle deformation data sets here, as well as tracking and segmentation code!

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