Kinematics and EMG raw data with indexes for each repetition and with parsed MATLAB data structures. Cite "A Synergistic Assistance as a Rehabilitation Approach For Post-Stroke Patients With a Hand Exoskeleton" if data is used.

A passive, sensorized 3-DoF arm served as the end-effector support. The dominant-arm forearm was secured to the end-effector via a rigid forearm support. Three bottle locations were defined on the workspace: one central position, one at -35 degrees (right of center), and one at +35 degrees (left of center), all at the same radial distance from the subject. Surface EMG (sEMG) was acquired at 2222~Hz using a Delsys wireless system equipped with Quattro and Avanti sensors and Ag/Cl electrodes. Twelve muscles were monitored: anterior (AD), middle (MD), and posterior deltoids (PD); pectoralis major (PM); infraspinatus (INF); teres major (TM); biceps brachii (short head, BS); triceps brachii (long head, TL); brachioradialis (BR); extensor digitorum (ED); flexor digitorum (FD); and abductor pollicis brevis (APB). A figure of Joint angles and the end-effector position of the 3-DoF passive arm were sampled at 100~Hz using RLS Orbis absolute encoders mounted at each joint.Participants were seated on a chair positioned in front of the HandExo rehabilitation platform. After electrode placement, each participant performed maximum voluntary contraction (MVC) trials used for subsequent normalization of EMG amplitudes: these trials include flexion/extension of the shoulder, internal/external rotation of the shoulder, flexion/extension of the elbow, and open/close of fingers. Participants then donned the wrist splint and were guided to a standardized initial posture: the wrist center located 70~cm from the central bottle, with the elbow configured so that the central bottle could be reached at full elbow extension. For each of the three bottle locations, participants completed 7 reach-to-grasp-and-return trials, starting from the initial position, reaching to grasp the bottle, and returning to the initial position. In total, each participant performed 3 * 7 = 21 trials.<br>

一台搭载传感模块的被动式3自由度（3-Degrees of Freedom, 3-DoF）机械臂作为末端执行器支撑平台。受试者的利手前臂通过刚性前臂支撑装置固定于该末端执行器上。实验工作空间内共预设三个瓶位：一个处于中心位置，一个位于中心右侧（-35度），另一个位于中心左侧（+35度），所有瓶位与受试者的径向距离均保持一致。表面肌电（Surface Electromyography, sEMG）信号以约2222 Hz的采样率进行采集，所用设备为搭载Quattro与Avanti传感器及银/氯化银（Ag/Cl）电极的Delsys无线采集系统。本次实验共监测12块肌肉：前束（Anterior Deltoid, AD）、中束（Middle Deltoid, MD）及后束（Posterior Deltoid, PD）三角肌；胸大肌（Pectoralis Major, PM）；冈下肌（Infraspinatus, INF）；大圆肌（Teres Major, TM）；肱二头肌短头（Biceps Brachii Short Head, BS）；肱三头肌长头（Triceps Brachii Long Head, TL）；肱桡肌（Brachioradialis, BR）；指伸肌（Extensor Digitorum, ED）；指屈肌（Flexor Digitorum, FD）；以及拇短展肌（Abductor Pollicis Brevis, APB）。3-DoF被动机械臂的关节角度与末端执行器位置数据，通过安装于各关节的RLS Orbis绝对式编码器以约100 Hz的采样率完成采集。受试者坐在置于HandExo康复平台前方的座椅上。完成电极安置后，每位受试者需完成最大自主收缩（Maximum Voluntary Contraction, MVC）试验，该试验数据用于后续肌电信号幅值的归一化处理，试验内容包括肩关节屈伸、肩关节内/外旋、肘关节屈伸以及手指开合。随后受试者佩戴腕部支具，并被调整至标准化初始姿势：腕部中心与中心瓶位的距离约为70 cm，且肘关节调整至可在完全伸展状态下触及中心瓶位的姿态。针对三个瓶位中的每一个，受试者均完成7次伸手抓取并返回试验：从初始位置出发，伸手抓取瓶状物后返回至初始位置。每位受试者总计完成3×7=21次试验。