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In this paper we propose a sequential pattern mining method to analyze multimodal data streams using a quantitative temporal approach. While the existing algorithms can only find sequential orders of temporal events, this paper presents a new temporal data mining method focusing on extracting exact timings and durations of sequential patterns extracted from multiple temporal event streams. We present our method with its application to the detection and extraction of human sequential behavioral patterns over multiple multimodal data streams in human-robot interactions. Experimental results confirmed the feasibility and quality of our proposed pattern mining algorithm, and suggested a quantitative data-driven way to ground social interactions in a manner that has never been achieved before.