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This data set is the data of the studies carried out in the article named "BalanSENS: Robotic platform system for balance analysis, rehabilitation and assistance with feedforward and feedback signals". BalanSENS is devised to embrace an approach that promotes active engagement by amalgamating diverse sensory inputs to enhance both sensory and motor functions. Its capacity to personalize balance rehabilitation for each individual is accomplished through a three-phase framework. The attributes of the servo motors are assessed to demonstrate their suitability for I-BaR. Furthermore, functional evaluations involving a healthy participant demonstrated promising results in quantifying force and real-time data monitoring during rehabilitation.