Despite the rise of mobile robot deployments in home and work settings, perceived safety of users and bystanders is understudied in the human-robot interaction (HRI) literature. To address this, we present a study designed to identify elements of a human-robot encounter that correlate with observed stress response. Stress is a key component of perceived safety and is strongly associated with human physiological response. In this study a Boston Dynamics Spot and a Unitree Go1 navigate autonomously through a shared environment occupied by human participants wearing multimodal physiological sensors to track their electrocardiography (ECG) and electrodermal activity (EDA). The encounters are varied through several trials and participants self-rate their stress levels after each encounter. The study resulted in a multidimensional dataset archiving various objective and subjective aspects of a human-robot encounter, containing insights for understanding perceived safety in such encounters. To this end, acute stress responses were decoded from the human participants' ECG and EDA and compared across different human-robot encounter conditions. Statistical analysis of data indicate that on average (1) participants feel more stress during encounters compared to baselines, (2) participants feel more stress encountering multiple robots compared to a single robot and (3) participants stress increases during navigation behavior compared with search behavior.

The development of new methods and approaches to the rapid diagnosis of stress is an urgent task, taking into account the current epidemiological (Covid-19) situation [1]. Psychological stress plays a key role in the development of many physical and neurological diseases. The term "stress" is usually used to denote both a strong adverse physical and / or psychogenic external environmental impact, and for a state of psychophysiological stress that develops under their influence, initially serving to adapt a person to new environmental conditions. Stress, as a chronic psychophysiological overstrain, can provoke the manifestation or exacerbation of symptoms of the disease, serve as one of the risk factors or aggravate the severity of the disease. Emotional overstrain reduces the productivity and quality of work performed by a person.

In this work we perform a study of various unsupervised methods to identify mental stress in firefighter trainees based on unlabeled heart rate variability data. We collect RR interval time series data from nearly 100 firefighter trainees that participated in a drill. We explore and compare three methods in order to perform unsupervised stress detection: 1) traditional K-Means clustering with engineered time and frequency domain features 2) convolutional autoencoders and 3) long short-term memory (LSTM) autoencoders, both trained on the raw RRI measurements combined with DBSCAN clustering and K-Nearest-Neighbors classification. We demonstrate that K-Means combined with engineered features is unable to capture meaningful structure within the data. On the other hand, convolutional and LSTM autoencoders tend to extract varying structure from the data pointing to different clusters with different sizes of clusters. We attempt at identifying the true stressed and normal clusters using the HRV markers of mental stress reported in the literature. We demonstrate that the clusters produced by the convolutional autoencoders consistently and successfully stratify stressed versus normal samples, as validated by several established physiological stress markers such as RMSSD, Max-HR, Mean-HR and LF-HF ratio.