This dataset contains sEMG and grasp fore data from 5 volunteers.

The data collection process is as follows. Five right hand-dominant healthy volunteers participated in the experiment were recruited from graduate students in the College of Automation, Nanjing University of Aeronautics and Astronautics. Of these, there are 4 males and 1 female (Aged from 21 to 28, mean 24.2, SD 2.77). Subjects sat in front of a computer with their right elbow flexed at approximately 135° and with sEMG armbands on their right forearms and grasp force sensor in their right hands. Their right arms rested on the table. The sEMG measuring positions are Extensor carpi ulnaris, Flexor carpi ulnaris, Flexor digitorum superficialis muscle, Flexor carpi radialis, Brachioradialis and Extensor digitorum. Subjects will have 10 minutes to familiarize themselves with the experiment before experiments. In the experiments, they applied force to the grasp force sensor 60 times with roughly four different strength levels (25%, 50%, 75% and 100%) according to the prompts of the computer software. Prompt of each strength level appears 15 times. They were asked to apply force to the grasp force sensor for about one second at each action. During this procedure, sEMG and grasp force were recorded synchronously. When a subject completed a grasp action and completely relaxed his/her arm, he/she could tap the computer's keyboard with his/her left hand finger, in which case the computer would randomly output a prompt for the next action. In total, we recorded data of 300 actions.

The experiment mentioned above is approved by the Academic and Ethics Committee of Nanjing Tongren Hospital. All participants provided written informed consent before the start of the experiments.

The dataset contains 300 data files of 5 volunteers. Each volunteer's data is placed in a separate folder.

There are 8 rows of data in each data file. The data in rows 1 to 6 are sEMG collected from Extensor carpi ulnaris, Flexor carpi ulnaris, Flexor digitorum superficialis muscle, Flexor carpi radialis, Brachioradialis and Extensor digitorum, respectively. The data in row 7 is grasp force data and the data in row 8 is the prompts output by the software during the experiments.

The units of sEMG data and grasp force data are uV and N, respectively.