This project encompasses a multimodal dataset comprising simultaneous high-density surface electromyography (HD sEMG) recordings from the Extensor Digitorum Communis (EDC) and Flexor Digitorum Superficialis (FDS) muscles, together with three-dimensional hand kinematics. Data were acquired during the execution of eight motor tasks: flexion and extension of the index and middle fingers; coupled flexion of the ring and little fingers; thumb opposition and reposition; and grasping movements including index–thumb pinching, middle–thumb pinching, tripod pinching, and simultaneous opening and closing of all five fingers (full hand grasp). Recordings were obtained from 21 healthy participants (age: 27.2 ± 6.5 years; weight: 73.5 ± 16.1 kg; height: 1.68 ± 0.1 m), following a protocol approved by the Ethics Committee of the University of Campinas (CAAE 80299124.2.1001.5404). Each task lasted 45 seconds and was performed at two frequencies (0.50 Hz and 0.75 Hz), following a sinusoidal pattern, with three repetitions per participant. Task sequences were randomized, and approximately 30 s of rest were provided between recordings. Participants were seated comfortably; the elbow of the dominant hand was supported on an adjustable-height table at approximately 45° of flexion, and the hand was maintained in a neutral position, with the palm aligned parallel to the sagittal axis. The gesture sequences were displayed on a virtual interface that participants were required to observe and imitate during each task, all of which began from an open hand position. In addition to the eight main tasks, two supplementary conditions of 45 seconds each were recorded: start_position, in which participants maintained the initial posture, and rest, in which the hand remained relaxed on the table. For the HD sEMG data, the eight main tasks were performed at both frequencies, yielding 16 experimental conditions; start_position and rest were added. With three repetitions per condition, a total of 54 HD sEMG files were collected per participant. For kinematic data, the 16 conditions derived from the main tasks were considered, along with start_position, yielding 51 files per participant. All recordings, including HD sEMG and three-dimensional kinematics, were stored in comma-separated values (.csv) text files. The HD sEMG data were acquired at 2052.52 Hz, while the kinematic data were captured at 100 Hz.