Towards a Novel Generation of Haptic and Robotic Interfaces: Integrating Active Physiology in Human-Robot Interaction

Haptic interfaces are special robots that interact with people to convey touch-related information. In addition to such a discriminative aspect, touch is also a highly emotion-related sense. However, while a lot of effort has been spent to investigate the perceptual mechanisms of discriminative touch and to suitably replicate them through haptic systems in human robot interaction (HRI), there is still a lot of work to do in order to take into account also the emotional aspects of tactual experience (i.e., the so-called affective haptics), for a more naturalistic human-robot communication. In this paper, we report evidences on how a haptic device designed to convey caress-like stimuli can influence physiological measures related to the autonomous nervous system (ANS), which is intimately connected to evoked emotions in humans. Specifically, a discriminant role of electrodermal response and heart rate variability can be associated to two different caressing velocities, which can also be linked to two different levels of pleasantness. Finally, we discuss how the results from this study could be profitably employed and generalized to pave the path towards a novel generation of robotic devices for HRI

Design and preliminary affective characterization of a novel fabric-based tactile display

In this work we present a novel wearable haptic system based on an elastic fabric which can be moved forward and backward over the user forearm thus simulating a human caress. The system allows to control both the velocity of the “caress-like” movement, by regulating motor velocity, and the “strength of the caress”, by regulating motor positions and hence the force exerted by the fabric on the user forearm. Along with a description of the mechanical design and control of the system, we also report the preliminary results of psycho-physiological assessment tests performed by six healthy participants. Such an assessment is intended as a preliminary characterization of the device capability of eliciting tactually emotional states in humans using different combinations of velocity and caress strength. The emotional state is expressed in terms of arousal and valence. Moreover, the activation of the autonomic nervous system is also evaluated through the analysis of the electrodermal response (EDR). The main results reveal a statistically significant correlation between the perceived arousal level and the “strength of the caress” and between the perceived valence level and the “velocity of the caress”. Moreover, we found that phasic EDR is able to discern between pleasant and unpleasant stimuli. These preliminary results are very encouraging and confirm the effectiveness of this device in conveying emotional-like haptic stimuli in a controllable and wearable fashion

Force-Velocity Assessment of Caress-Like Stimuli Through the Electrodermal Activity Processing: Advantages of a Convex Optimization Approach

We propose the use of the convex optimization-based EDA (cvxEDA) framework to automatically characterize the force and velocity of caressing stimuli through the analysis of the electrodermal activity (EDA). CvxEDA, in fact, solves a convex optimization problem that always guarantees the globally optimal solution. We show that this approach is especially suitable for the implementation in wearable monitoring systems, being more computationally efficient than a widely used EDA processing algorithm. In addition, it ensures low-memory consumption, due to a sparse representation of the EDA phasic components. EDA recordings were gathered from 32 healthy subjects (16 females) who participated in an experiment where a fabric-based wearable haptic system conveyed them caress-like stimuli by means of two motors. Six types of stimuli (combining three levels of velocity and two of force) were randomly administered over time. Performance was evaluated in terms of execution time of the algorithm, memory usage, and statistical significance in discerning the affective stimuli along force and velocity dimensions. Experimental results revealed good performance of cvxEDA model for all of the considered metrics

Skin Admittance Measurement for Emotion Recognition: A Study over Frequency Sweep

The electrodermal activity (EDA) is a reliable physiological signal for monitoring the sympathetic nervous system. Several studies have demonstrated that EDA can be a source of effective markers for the assessment of emotional states in humans. There are two main methods for measuring EDA: endosomatic (internal electrical source) and exosomatic (external electrical source). Even though the exosomatic approach is the most widely used, differences between alternating current (AC) and direct current (DC) methods and their implication in the emotional assessment field have not yet been deeply investigated. This paper aims at investigating how the admittance contribution of EDA, studied at different frequency sources, affects the EDA statistical power in inferring on the subject?s arousing level (neutral or aroused). To this extent, 40 healthy subjects underwent visual affective elicitations, including neutral and arousing levels, while EDA was gathered through DC and AC sources from 0 to 1 kHz. Results concern the accuracy of an automatic, EDA feature-based arousal recognition system for each frequency source. We show how the frequency of the external electrical source affects the accuracy of arousal recognition. This suggests a role of skin susceptance in the study of affective stimuli through electrodermal response

THE EFFECT OF COLOR ON EMOTIONS IN ANIMATED FILMS

Lighting color in animated films is usually chosen very carefully in order to portray a specific mood or emotion. Artists follow conventional techniques with color choices with the intention to create a greater emotional response in the viewer. This study examined the relationship between color variations in videos and emotional arousal as indicated by physiological response. Subjects wore a galvanic skin response (GSR) sensor and watched two different videos: one portraying love and one portraying sadness. The videos were watched multiple times, each with variations in the lighting color. No significant effects on emotion for either hue or saturation were observed from the GSR sensor data. It was concluded that the hue and saturation of lighting are not likely to cause a significant impact in the strength of emotions being portrayed in animated films to a degree in which it can be measured by electrodermal activity

Restorative and afflicting qualities of the micro-space encounter:psychophysiological reactions to the spaces of the city

There is a long-standing narrative within health research that nature (or green space) is beneficial for health while urban (or grey spaces) are not. This prior research often focuses on broad, often binary, nature/urban categorizations rather than the particular qualities of the micro-space encounter, stimulating embodied stress or restorative human reactions. Drawing on the findings of an interdisciplinary and exploratory mixed-methods study investigating how people physiologically respond to their environment, this paper discusses the micro-space encounters which can evoke restorative and afflicting human responses. In doing so, this paper demonstrates the strengths of combining biosensing technology with qualitative methods but stresses that narrative and psychophysiological capture only identifies a small aspect of an experience

Emotional ratings and skin conductance response to visual, auditory and haptic stimuli

The human emotional reactions to stimuli delivered by different sensory modalities is a topic of interest for many disciplines, from Human-Computer-Interaction to cognitive sciences. Different databases of stimuli eliciting emotional reaction are available, tested on a high number of participants. Interestingly, stimuli within one database are always of the same type. In other words, to date, no data was obtained and compared from distinct types of emotion-eliciting stimuli from the same participant. This makes it difficult to use different databases within the same experiment, limiting the complexity of experiments investigating emotional reactions. Moreover, whereas the stimuli and the participants’ rating to the stimuli are available, physiological reactions of participants to the emotional stimuli are often recorded but not shared. Here, we test stimuli delivered either through a visual, auditory, or haptic modality in a within participant experimental design. We provide the results of our study in the form of a MATLAB structure including basic demographics on the participants, the participant’s self-assessment of his/her emotional state, and his/her physiological reactions (i.e., skin conductance)

Coverage of emotion recognition for common wearable biosensors

The present research proposes a novel emotion recognition framework for the computer prediction of human emotions using common wearable biosensors. Emotional perception promotes specific patterns of biological responses in the human body and this can be sensed and used to predict emotions using only biomedical measurements. Based on theoretical and empirical psychophysiological research, the foundation of autonomic specificity facilitates the establishment of a strong background for recognising human emotions using machine learning on physiological patterning. However, a systematic way of choosing the physiological data covering the elicited emotional responses for recognising the target emotions is not obvious. The current study demonstrates through experimental measurements the coverage of emotion recognition using common off-the-shelf wearable biosesnors based on the synchronisation between audiovisual stimuli and the corresponding physiological responses. The work forms the basis of validating the hypothesis for emotional state recognition in the literature, and presents coverage of the use of common wearable biosensors coupled with a novel preprocessing algorithm to demonstrate the practical prediction of the emotional states of wearers