IntelliMan_WP5_Grasping, Manipulation and Arm-Hand Coordination_T5.1_Data fusion and sensing technology_IEEENEWCAS2025_Data

The dataset was collected using a PVDF-based tactile sensing system composed of eight PVDF-TrFE piezoelectric sensing units. Data were acquired during normal indentation experiments carried out with a Cartesian robot and a soft spherical indenter, while a load cell provided the ground-truth normal force. Signals from the 8 sensors were sampled at 2 kHz. The protocol applied seven peak normal force levels (4.5, 5.5, 6.5, 7.5, 8.5, 9.5, and 10.5 N), and each force level was tested at seven indentation speeds (2.4, 3.2, 4.02, 4.8, 5.6, 6.4, and 7.2 mm/s). For each force–speed condition, 65 trials were recorded, resulting in 490 total recordings (7 force levels × 7 speeds × 65 trials). Each recording corresponds to a complete indentation cycle, from initial contact to indenter release.