This dataset captures kinaesthetic interactions recorded using a Novint Falcon haptic device within a Chai3D virtual environment. The setup follows a Client-Server architecture, communicating via UDP sockets. Data is logged in CSV format, storing 3D position, velocity, and force for both Client and Server sides in separate files per interaction. The dataset includes five distinct movements: Tapping Tap and Hold Holding Free Air Movement (Horizontal Movement) Shearing (Diagonal Contact with Ground) Each movement was recorded for approximately two minutes under varying environmental conditions, including ground stiffness, ground static friction, ground dynamic friction, and virtual environment viscosity, each set at high, medium, and low levels. The data recorded was obtained using the KCnD of the standard IEEE 1918.1.1-2024. The values for the deadband parameters were the following:Velocity Perceptual Deadband: 10%Force Perceptual Deadband: 10%