Dataset for "DiGeTac Unit for Multimodal Communication in Human-Robot Interaction"

The dataset is divided into 2 main folders containing hand gesture and touch data. Gesture_Data folder contains data collected by performing four hand gestures; up, down, left, and right. There's also error data on mistakes made during these gestures. Touch_Data folder contains IMU data collected from the tactile sensor applying force on four different contact locations and from the idle case where no contact was made with the tactile sensor. The aim of this data collection is to present that the proposed sensing module can establish reliable multimodal communication channels between humans and industrial robots, thereby enhancing the interaction efficiency and user experience in automated environments.

machine learning, human-robot interaction, multimodal sensing module, robotics, sensing data
Electrical engineering

Cite this dataset as:
Al, G., 2024. Dataset for "DiGeTac Unit for Multimodal Communication in Human-Robot Interaction". Bath: University of Bath Research Data Archive. Available from:


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Creative Commons: Attribution 4.0


Gorkem Anil Al
University of Bath


University of Bath
Rights Holder


Data collection method:

The methodology can be found in the associated paper.


Engineering and Physical Sciences Research Council (EPSRC)

Manufacturing in Hospital: BioMed 4.0

Publication details

Publication date: 22 April 2024
by: University of Bath

Version: 1


URL for this record:

Related papers and books

Al, G. A., and Martinez-Hernandez, U., 2024. DiGeTac Unit for Multimodal Communication in Human–Robot Interaction. IEEE Sensors Letters, 8(5), 1-4. Available from:

Contact information

Please contact the Research Data Service in the first instance for all matters concerning this item.

Contact person: Gorkem Anil Al


Faculty of Engineering & Design
Electronic & Electrical Engineering

Research Centres & Institutes
Centre for Autonomous Robotics (CENTAUR)
Centre for Digital, Manufacturing & Design (dMaDe)