Sense4HRI: A ROS 2 HRI Framework for Physiological Sensor Integration and Synchronized Logging
This addresses a domain-specific problem for researchers and developers in human-robot interaction, offering an incremental improvement to existing ROS 2 frameworks.
The paper tackles the lack of standardized physiological sensor integration in ROS 2-based human-robot interaction frameworks by proposing Sense4HRI, which provides reusable interfaces and synchronized logging for physiological data streams.
Physiological signals are increasingly relevant to estimate the mental states of users in human-robot interaction (HRI), yet ROS 2-based HRI frameworks still lack reusable support to integrate such data streams in a standardized way. Therefore, we propose Sense4HRI, an adapted framework for human-robot interaction in ROS 2 that integrates physiological measurements and derived user-state indicators. The framework is designed to be extensible, allowing the integration of additional physiological sensors, their interpretation, and multimodal fusion to provide a robust assessment of the mental states of users. In addition, it introduces reusable interfaces for timestamped physiological time-series data and supports synchronized logging of physiological signals together with experiment context, enabling interoperable and traceable multimodal analysis within ROS 2-based HRI systems.