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This paper presents a framework for monitoring human and robot conditions inhuman multi-robot interactions. The proposed framework consists of fourmodules: 1) human and robot conditions monitoring interface, 2) synchronizationtime filter, 3) data feature extraction interface, and 4) condition monitoringinterface. The framework is based on Robot Operating System (ROS), and itsupports physiological and behavioral sensors and devices and robot systems, aswell as custom programs. Furthermore, it allows synchronizing the monitoringconditions and sharing them simultaneously. In order to validate the proposedframework, we present experiment results and analysis obtained from the userstudy where 30 human subjects participated and simulated robot experiments.

A ROS-based Framework for Monitoring Human and Robot Conditions in a Human-Multi-robot Team