This dataset contains the data collected during psychophysical studies into the effect of actuation speed of pressure by a soft actuator on the forearm. The was collected during psychophysical experiments in the lab where participants placed their arm in a motorized ribbon set-up which contracted to present participants with pressure stimuli of various forces and actuation speeds. Participants wore noise-canceling headphones ad a barrier prevented them from seeing their arm in the set-up. Participants indicated whether they felt the stimulus or not, this was repeated for 35 trials using the PSI method. The data was logged by psychopy in a .txt file and a .nmpy file for each participant.