Table 1. Variable range for the data augmentation applied to the original pen-tip trajectory dataset.

Furthermore, the character trajectories are translated to start at various starting points throughout the arm’s workspace, overall yielding movements in 26 horizontal and 18 vertical planes.

Type of variation	Levels of variation
Scaling	[0.7×, 1×, 1.3×]
Rotation	[-π/6, -π/12, 0, π/12, π/6]
Shearing	[-π/6, -π/12, 0, π/12, π/6]
Translation	Grid with a spacing of 3 cm
Speed	[0.8×, 1×, 1.2×, 1.4×]
Plane of writing	[Horizontal (26), Vertical (18)]