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Accurately measuring and understanding affective loads, such as cognitive and emotional loads, is crucial in the field of human–robot interaction (HRI) research. Although established assessment tools exist for gauging working memory capability in psychology and cognitive neuroscience, few tools are available to specifically measure affective loads. To address this gap, we propose a practical stimulus tool for teleoperated human–robot teams. The tool is comprised of a customizable graphical user interface and subjective questionnaires to measure affective loads. We validated that this tool can invoke different levels of affective loads through extensive user experiments. 

This paper presents MOCAS, a multimodal dataset dedicated for human cognitive workload (CWL) assessment. In contrast to existing datasets based on virtual game stimuli, the data in MOCAS was collected from realistic closed-circuit television (CCTV) monitoring tasks, increasing its applicability for real-world scenarios. To build MOCAS, two off-the-shelf wearable sensors and one webcam were utilized to collect physiological signals and behavioral features from 21 human subjects. After each task, participants reported their CWL by completing the NASA-Task Load Index (NASA-TLX) and Instantaneous Self-Assessment (ISA). Personal background (e.g., personality and prior experience) was surveyed using demographic and Big Five Factor personality questionnaires, and two domains of subjective emotion information (i.e., arousal and valence) were obtained from the Self-Assessment Manikin (SAM), which could serve as potential indicators for improving CWL recognition performance. Technical validation was conducted to demonstrate that target CWL levels were elicited during simultaneous CCTV monitoring tasks; its results support the high quality of the collected multimodal signals. 

This paper introduces a new ROSbag-based multimodal affective dataset for emotional and cognitive states generated using the Robot Operating System (ROS). We utilized images and sounds from the International Affective Pictures System (IAPS) and the International Affective Digitized Sounds (IADS) to stimulate targeted emotions (happiness, sadness, anger, fear, surprise, disgust, and neutral), and a dual N-back game to stimulate different levels of cognitive workload. 30 human subjects participated in the user study; their physiological data were collected using the latest commercial wearable sensors, behavioral data were collected using hardware devices such as cameras, and subjective assessments were carried out through questionnaires. All data were stored in single ROSbag files rather than in conventional Comma-Separated Values (CSV) files. This not only ensures synchronization of signals and videos in a data set, but also allows researchers to easily analyze and verify their algorithms by connecting directly to this dataset through ROS. The generated affective dataset consists of 1,602 ROSbag files, and the size of the dataset is about 787GB. The dataset is made publicly available. We expect that our dataset can be a great resource for many researchers in the fields of affective computing, Human-Computer Interaction (HCI), and Human-Robot Interaction (HRI).