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Measuring emotions of robot operators in urban search and rescue missions

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Author: Mioch, T. · Giele, T.R.A. · Smets, N.J.J.M. · Neerincx, M.A.
Source:31st European Conference on Cognitive Ergonomics: Work, Education, Society, ECCE 2013, 26 August 2013 through 28 August 2013, Toulouse
ACM International Conference Proceeding Series
Identifier: 480152
doi: doi:10.1145/2501907.2501951
ISBN: 9781450322515
Keywords: Robotics · Neasuring emotions · USAR · Emotions · Rescue operations · Defence, Safety and Security · Human · PCS - Perceptual and Cognitive Systems · BSS - Behavioural and Societal Sciences


This paper evaluates the feasibility and reliability of measuring the (emotional) state of the robot operators in urban search and rescue missions in real-time. An experiment has been conducted, in which a high-fidelity team task in a realistic urban search and rescue setting was executed by fire fighters in cooperation with robots. During the task, several emotion-eliciting events were triggered. In addition, the heart rate variability, skin conductance and facial expressions were monitored. After the scenario execution, the fire fighters were asked to describe their emotional state during task execution. We found that the facial expressions were not reliably recognized, but that heart rate variability and skin conductance measured a higher arousal during (some of) the emotion-eliciting events. However, the different measures still have shortcomings regarding use in complex and dynamic environments. © 2013 ACM.