Robot Guidance Controller Dataset

Recordings from (1) therapist–patient shoulder-flexion sessions and (2) a UR5-robot user study with 12 participants. Includes motion capture, wrist-force sensing, IMUs, and EMG time series data; four guidance conditions (reference, verbal-only, physical-only, combined); derived reference trajectories from therapist demos; controller/log time series (errors, forces, utterances); and outcome metrics (position/velocity error, smoothness, completion time). See https://robot-guidance-controller.github.io for more information.