Wearable biosensors enable continuous human data capture, facilitating the development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations add extraneous complexity to HRI system designs, and preclude collaboration across disciplines and institutions. Here, we propose a novel wearable biosensor package for the Robot Operating System 2 (ROS 2). The package standardizes biosensor HRI integration, lowers the technical barrier of entry, and expands the biosensor ecosystem in the robotics field. Each biosensor package node follows a generalized node and topic structure concentrated on ease of use. Current package capabilities, listed by the biosensor, highlight package standardization. Collected example data demonstrates integration of each biosensor into ROS 2. Standardization of a biosensors package for ROS 2 will greatly simplify use and cross-collaboration across many disciplines.
- ROS2 foxy
- Install Emotiv App
- Install Emaptica E4 streaming server on an additional Window machine (Win10)
- Install python libraries:
$ pip3 install open-e4-client pexpect websocket-client$ cd ~
$ source /opt/ros/foxy/setup.bash
$ git clone https://github.com/SMARTlab-Purdue/ros2-foxy-wearable-biosensors.git
$ cd ros2-foxy-wearable-biosensors
$ colcon build --symlink-install
$ source install/setup.bash- Empatica E4 wristband
- Emotiv Insight
- Shimmer3-GSR Unit+
- Polar H10
- Vernier Respiration Belt
- Zephyr Bioharness
- TBD (will be added new sensors on v0.0.2)
Wonse Jo, Jaeeun Kim, and Dr. Byung-Cheol Min are with SMART Lab, Department of Computer and Information Technology, Purdue University, West Lafayette, IN 47907, USA.
 Purdue University |
 🌍Wonse Jo Ph.D. Candidate [email protected] |
 🌍Jaeeun Kim Undergradute [email protected] |
 🌍Dr. Byung-Cheol Min Director [email protected] |
Dr. Robert Wilson, and Dr. Steve McGuire are with HARE Lab, Department of Electrical and Computer Engineering, University of California Santa Cruz, Santa Cruz, CA 95064, USA.
 University of California, Santa Cruz |
 🌍Dr. Robert Wilson PostDoc. researcher [email protected] |
 🌍Dr. Steve McGuire Director [email protected] |
(TBD) We are looking for new contributors to expand the biosensor ecosystem on ROS 2 environment. Please contact us if you are interested.
 |
🌍TBD (TBD)position [email protected] |
🌍TBD (TBD)position [email protected] |
This material is based upon work supported by the National Science Foundation under Grant No. IIS-1846221 and by DARPA under grant HR0011-18-2-0043. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation or DARPA.