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