IntelliMan_WP5_Grasping, Manipulation and Arm-Hand Coordination_T5.1_Data fusion and sensing technology_Sciencerobotics2023_Data

This dataset contains structured tabular information associated with a hierarchical sensorimotor control framework for human-in-the-loop robotic and prosthetic hands. The framework draws inspiration from the organization of the human sensorimotor system to investigate the integration of tactile sensing, shared control, and haptic feedback in robotic systems. The dataset is provided in CSV format and describes six levels of human–robot interfacing: full autonomy, collaboration, action control, middleware, direct control, and direct contact. For each level, the data specify representative robotic applications, the distribution of tactile feedback and sensor information between the human operator and the robotic system, the role and content of haptic feedback, and the corresponding requirements for the feedback loop. The dataset provides a structured representation of how increasing robotic autonomy influences the allocation of control responsibilities, the processing of high-density tactile information, and the communication requirements between human operators and robotic systems. The information supports the analysis and comparison of hierarchical control strategies for intelligent robotic and prosthetic hands, particularly in applications involving distributed tactile sensing, autonomous responses, and bidirectional human–machine interfaces. The dataset is associated with the following peer-reviewed publication, which introduces and discusses the proposed hierarchical sensorimotor control framework: L. Seminara, S. Dosen, F. Mastrogiovanni, M. Bianchi, S. Watt, P. Beckerle, T. Nanayakkara, K. Drewing, A. Moscatelli, R. L. Klatzky, and G. E. Loeb, "A Hierarchical Sensorimotor Control Framework for Human-in-the-Loop Robotic Hands," Science Robotics, vol. 8, no. 78, Art. no. eadd5434, 2023. DOI: https://doi.org/10.1126/scirobotics.add5434 Users of this dataset are kindly requested to cite the above publication when using the data in their research.