ros2-foxy-wearable-biosensors
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.
Requirements
$ pip3 install open-e4-client pexpect websocket-client
Installation
$ 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
Supported Wearable Biosensors
v0.0.1, updated on Sep.11th 2021.
- 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)
Contributors
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.
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.
(TBD) We are looking for new contributors to expand the biosensor ecosystem on ROS 2 environment. Please contact us if you are interested.
Acknowledgements
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.
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