Sense4HRI: A ROS 2 HRI Framework for Physiological Sensor Integration and Synchronized Logging

TL;DR

Sense4HRI is a ROS 2 framework that standardizes the integration and synchronized logging of physiological sensors in human-robot interaction, enabling robust multimodal user-state assessment.

Contribution

It introduces a reusable, extensible framework for physiological data integration and synchronized logging within ROS 2 HRI systems, addressing a gap in current support.

Findings

Supports multiple physiological sensors and derived indicators

Enables synchronized logging of physiological data with experiment context

Facilitates interoperable multimodal analysis in ROS 2 HRI

Abstract

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.