The hardware/software platform in the PsyIntEC project has been undergoing some changes. Previously we have used two Viper Adept S650 robot arms using custom made electro magnetic grippers to pick up the Towers of Hanoi disks. This solution proved to be very sensitive to correct placement of the disks by the human co-worker. To solve this the grippers has been replaced by Robotiq 2-Finger Adaptive Grippers (http://robotiq.com/en/products/two-finger-robot-gripper) This solution is not suffering from the placement sensivity since we can use pins to place the disks on as in the original Towers of Hanoi game. A demonstration video of the new platform can be found at  http://www.youtube.com/watch?v=6S9QO9cJGac. 

We are currently starting up the experiment sessions. The participants will play the ToH game alone, collaboration with another human, and collaboration with a robot while biosensors are attached. The biosensors will record biophysiological data from the participant regarding emotions like stress, enjoyment, boredom, excitement, etc.