In this work, we present an unobtrusive and non-invasive perception framework based on the synergy between two main acquisition systems: the Touch-Me Pad, consisting of two electronic patches for physiological signal extraction and processing; and the Scene Analyzer, a visual-auditory perception system specifically designed for the detection of social and emotional cues. It will be explained how the information extracted by this specific kind of framework is particularly suitable for social robotics applications and how the system has been conceived in order to be used in human-robot interaction scenarios.