将生理信号融入ROS 2，实现人机交互中的状态同步分析
Sense4HRI: A ROS 2 HRI Framework for Physiological Sensor Integration and Synchronized Logging
- 基于ROS 2构建可扩展的生理信号集成框架
- 支持多源生理数据与实验上下文的时序同步记录
- 适合人机交互中用户心理状态研究者使用
生理信号在估计人机交互（HRI）中用户心理状态方面日益重要，但现有的基于ROS 2的HRI框架仍缺乏标准化的数据流集成支持。为此，我们提出Sense4HRI，一个面向人机交互的ROS 2适配框架，集成生理测量与推断的用户状态指标。该框架设计为可扩展，支持新增生理传感器、信号解析及多模态融合，以实现对用户心理状态的稳健评估。同时，引入时间戳生理时序数据的可复用接口，支持生理信号与实验上下文的同步日志记录，使基于ROS 2的HRI系统具备可互操作、可追溯的多模态分析能力。
原文摘要 · Abstract (English)
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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