This datasets contains motion and force measurements of humans performing various manual tasks, as well as annotations of the actions and postures adopted by the participants. 13 participants performed a series of activities mimicking industrial tasks, such as screwing at different heights and manipulating loads (15 trials per participant, duration of one trial: between 1.5 and 2 min). Participants' whole-body kinematics and hand contact pressure force were recorded. Whole-body kinematics was recorded both with optical (gold standard) and inertial motion capture systems. Hand pressure force was recorded with a prototype glove equipped with pressure sensors. Videos of the participants performing the activities were then annotated by 3 human annotator, to specify the action performed and the posture adopted in each frame of the video. Posture taxonomy follows the Ergonomic Assessment Worksheet (EAWS) postural grid. Action taxonomy defines elementary actions such as reaching, carrying, picking.All data files are provided in proprietary format (when existing), in standard motion analysis format and in csv format. Annotations are provided in csv format. Videos of a human avatar replaying participants' motion are also provided (annotations were performed on those videos).