Abstract

This dataset was generated in the framework of the Horizon 2020 project REMODEL. The dataset is related to enhancing existing Programming by Demonstration approaches with an additional input channel, the hand stiffness, that the operator continuously modulates during the demonstration, estimated from the forearm surface electromyography and translated into a request for a higher or lower accuracy level. It includes experimental data collected with sEMG sensors and robot intrinsic sensors during two experimental sessions in which human subjects have led a robotic arm to perform specific tasks. The data are presented in the publication: L. Biagiotti, R. Meattini, D. Chiaravalli, G. Palli and C. Melchiorri, "Robot Programming by Demonstration: Trajectory Learning Enhanced by sEMG-Based User Hand Stiffness Estimation," in IEEE Transactions on Robotics, vol. 39, no. 4, pp. 3259-3278, Aug. 2023, doi: 10.1109/TRO.2023.3258669.