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27% for events. CONCLUSION results demonstrate the good performance of the presented system in detecting sympathetic reactions, and the effectiveness of the motion artifact removal procedure. SIGNIFICANCE our work demonstrates the possibility to classify the emotional state of the driver, using the ECG and EDA signals and a slightly invasive setup. In particular, the proposed use of SPR and of the motion artifact removal procedure are crucial for the effectiveness of the system.OBJECTIVE Untethered microrobots hold great promise for applications