Merging neural stimulation and exoskeletons to enhance sensorimotor hand functions after brain or spinal cord injury - Dataset

This repository contains all datasets and scripts necessary to reproduce the scientific results presented in:

Cimolato et al. "Merging neural stimulation and exoskeletons to enhance sensorimotor hand functions after brain or spinal cord injury", published in Science Advances (2026).

The repository is organized according to the figures presented in the manuscript to facilitate direct reproducibility of each published result.

• Figure 2 – NeuroSleeve Data-Informed Design
  • electrode_placement_distributions.m
    Dataset containing: i. the optimal locations of anode and cathode for FES of the flexor and extensor finger muscles; ii. the optimal locations of anode and cathode for TENS of the median and ulnar nerves.
  • electrodes_diameter.mat
    Dataset containing electrode sizes that achieved optimal TENS-induced somatotopic feedback in healthy participants.
  • improvement_thin_plate.mat
    Dataset containing force sensor recordings under no-load conditions, with and without the thin support plate.
  • improvement_load_concentrator.mat
    Dataset containing grasp detection accuracy from force sensors across three grasp types (palmar pinch, spherical, cylindrical)
• Figure 3 – Range of Motion (RoM) Restoration
  
  • rom_data.mat
    Dataset containing MCP joint Range of Motion values for participants under three conditions (no support, only exoskeleton support, SensibleExo support).
• Figure 4 – Sensory Restoration Mapping 
  
  • sensory_map_data.mat
    Dataset containg the percentage of sensitive area in the participants palm under three conditions (no support, with ulnar TENS, median TENS)
• Figure 5 – Functional Task Performance
  
  • data_functional_task.mat
    Dataset containing task accuracy results for grasp and release tasks under three conditions (no support, with ulnar TENS, median TENS) with fragile and bulky objects. The dataset also includes participants’ quantified motor and sensory impairment percentages.
• Figure 6 – Stimulation Usage and Sensor Exploitation During Functional Tasks
  
  • stimulation_rates.mat
    Dataset reporting the number of delivered stimulations (FES and TENS) during functional task trials for each participant.
  • data_sensor_bulkyobjects.mat
    Dataset containing fingertip force sensor values recorded during bulky object manipulation under exoskeleton and SensibleExo support.  (Data from participant S12)
  • data_sensor_fragileobjects.mat
    Dataset containing the percentage of force application over the force sensor during fragile object manipulation under exoskeleton and SensibleExo support. (Data from participant S14)