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While this is usually performed using electrophysiological and\/or kinematic measurements only, the collection of tactile data during grasping movements could enrich the overall information about interaction with external environment. We provide a dataset collected from 10 healthy volunteers performing 16 tasks, including simple movements (i.e., hand opening\/closing, wrist pronation\/supination and flexion\/extension, tridigital grasping, thumb abduction, cylindrical and spherical grasping) and more complex ones (i.e., reaching and grasping). The novelty consists in the inclusion of several types of recordings, namely electromyographic -both with bipolar and high-density configuration, kinematic-both with motion capture system and a sensorized glove, and tactile. The data is organized following the Brain Imaging Data Structure standard format and have been validated to ensure its reliability. 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