This dataset accompanies a paper submitted to Nature Machine Intelligence on the human-aware ergoCub robot, focusing on shared embodied intelligence in humanoid robotics. It is organized into three main directories: one for hardware optimization scripts and output models, one for human-robot interaction experiment scripts, and a data directory containing experimental results from the campaign. The dataset is designed to reproduce the specific results reported in the paper, relying on the adam kinematics/dynamics library and the shared-controllers autonomy framework as core dependencies. The code is primarily written in Python.