Table 1.

Datasets used for model training and testing obtained combining data acquired with the experimental protocols designed for this study.

Dataset	Experimental protocol	Payload (kg)	Repetitions	HAR model	PE model
D1	Protocol 1	5, 10, 15	$10\times 3$	–	90–10% train-test
D2	Protocol 2	10	10	100% train	–
D3	Protocol 2	5, 10, 15	$2\times 3$	100% test	50–50% train-test