ROS package to play a pong game by physically interacting with a Franka arm. A depth camera is used to retrieve skeleton information of the person during the interaction. The sensed force at the robot end-effector and the kinematic features of the human arm are used to compute arousal and potency levels using a simple emotion model. See paper linked below for details.
The code in this repository was used for experiments detailed in Assessing the sense of control during affective physical Human-Robot Interaction.