There are physical Human–Robot Interaction (pHRI) applications where the robot has to grab the human body, such as rescue or assistive robotics. Being able to precisely estimate the grasping location when grabbing a human limb is crucial to perform a safe manipulation of the human. Computer vision methods provide pre-grasp information with strong constraints imposed by the field environments. Force-based compliant control, after grasping, limits the amount of applied strength. On the other hand, valuable tactile and proprioceptive information can be obtained from the pHRI gripper, which can be used to better know the features of the human and the contact state between the human and the robot. This paper presents a novel dataset of tactile and kinesthetic data obtained from a robot gripper that grabs a human forearm. The dataset is collected with a three-fingered gripper with two underactuated fingers and a fixed finger with a high-resolution tactile sensor. A palpation procedure is performed to record the shape of the forearm and to recognize the bones and muscles in different sections. Moreover, an application for the use of the database is included. In particular, a fusion approach is used to estimate the actual grasped forearm section using both kinesthetic and tactile information on a regression deep-learning neural network. First, tactile and kinesthetic data are trained separately with Long Short-Term Memory (LSTM) neural networks, considering the data are sequential. Then, the outputs are fed to a Fusion neural network to enhance the estimation. The experiments conducted show good results in training both sources separately, with superior performance when the fusion approach is considered.
