Brain-computer interfaces (BCIs) have long been seen as control interfaces that translate changes in brain activity, produced either by means of a volitional modulation or in response to an external stimulation. However, recent trends in the BCI and neurofeedback research highlight passive monitoring of a user's brain activity in order to estimate cognitive load, attention level, perceived errors and emotions. Extraction of such higher order information from brain signals is seen as a gateway for facilitation of interaction between humans and intelligent systems. Particularly in the field of robotics, passive BCIs provide a promising channel for prediction of user's cognitive and affective state for development of a user-adaptive interaction. In this paper, we first illustrate the state of the art in passive BCI technology and then provide examples of BCI employment in human-robot interaction (HRI). We finally discuss the prospects and challenges in integration of passive BCIs in socially demanding HRI settings. This work intends to inform HRI community of the opportunities offered by passive BCI systems for enhancement of human-robot interaction while recognizing potential pitfalls.

Controlling a brain-computer interface (BCI) is a difficult task that requires extensive training. Particularly in the case of motor imagery BCIs, users may need several training sessions before they learn how to generate desired brain activity and reach an acceptable performance. A typical training protocol for such BCIs includes execution of a motor imagery task by the user, followed by presentation of an extending bar or a moving object on a computer screen. In this chapter, we discuss the importance of a visual feedback that resembles human actions, the effect of human factors such as confidence and motivation, and the role of embodiment in the learning process of a motor imagery task. Our results from a series of experiments in which users BCI-operated a humanlike android robot confirm that realistic visual feedback can induce a sense of embodiment, which promotes a significant learning of the motor imagery task in a short amount of time. We review the impact of humanlike visual feedback in optimized modulation of brain activity by the BCI users.

With the advancements in social robotics and virtual avatars, it becomes increasingly important that these agents adapt their behavior to the mood, feelings and personality of their users. One such aspect of the user is empathy. Whereas many studies measure empathy through offline measures that are collected after empathic stimulation (e.g. post-hoc questionnaires), the current study aimed to measure empathy online, using brain activity collected during the experience. Participants watched an affective 360 video of a child experiencing domestic violence in a virtual reality headset while their EEG signals were recorded. Results showed a significant attenuation of alpha, theta and delta asymmetry in the frontal and central areas of the brain. Moreover, a significant relationship between participants' empathy scores and their frontal alpha asymmetry at baseline was found. These results demonstrate specific brain activity alterations when participants are exposed to an affective virtual reality environment, with the level of empathy as a personality trait being visible in brain activity during a baseline measurement. These findings suggest the potential of EEG measurements for development of passive brain-computer interfaces that assess the user's affective responses in real-time and consequently adapt the behavior of socially intelligent agents for a personalized interaction.

Humans constantly interact with digital devices that disregard their feelings. However, the synergy between human and technology can be strengthened if the technology is able to distinguish and react to human emotions. Models that rely on unconscious indications of human emotions, such as (neuro)physiological signals, hold promise in personalization of feedback and adaptation of the interaction. The current study elaborated on adopting a predictive approach in studying human emotional processing based on brain activity. More specifically, we investigated the proposition of predicting self-reported human empathy based on EEG cortical asymmetry in different areas of the brain. Different types of predictive models i.e. multiple linear regression analyses as well as binary and multiclass classifications were evaluated. Results showed that lateralization of brain oscillations at specific frequency bands is an important predictor of self-reported empathy scores. Additionally, prominent classification performance was found during resting-state which suggests that emotional stimulation is not required for accurate prediction of empathy -- as a personality trait -- based on EEG data. Our findings not only contribute to the general understanding of the mechanisms of empathy, but also facilitate a better grasp on the advantages of applying a predictive approach compared to hypothesis-driven studies in neuropsychological research. More importantly, our results could be employed in the development of brain-computer interfaces that assist people with difficulties in expressing or recognizing emotions.