Sense4HRI: A ROS 2 HRI Framework for Physiological Sensor Integration and Synchronized Logging
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Acceso en línea: | |
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| _version_ | 1866908902751207424 |
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| author | Scheibl, Manuel Leichert, Julian Görmez, Sinem Wrede, Britta |
| author_facet | Scheibl, Manuel Leichert, Julian Görmez, Sinem Wrede, Britta |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_19914 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Sense4HRI: A ROS 2 HRI Framework for Physiological Sensor Integration and Synchronized Logging Scheibl, Manuel Leichert, Julian Görmez, Sinem Wrede, Britta Human-Computer Interaction Robotics 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. |
| title | Sense4HRI: A ROS 2 HRI Framework for Physiological Sensor Integration and Synchronized Logging |
| topic | Human-Computer Interaction Robotics |
| url | https://arxiv.org/abs/2603.19914 |