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arXiv · 2603.19914

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

Manuel Scheibl·Julian Leichert·Sinem Görmez·Britta Wrede
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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.

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Manuel Scheibl, Julian Leichert, Sinem Görmez, Britta Wrede. 2026-03-20. Sense4HRI: A ROS 2 HRI Framework for Physiological Sensor Integration and Synchronized Logging. https://arxiv.org/abs/2603.19914

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