Human Pulse and Respiratory Signal Analysis using a Robot Hand equipped with a Biomimetic Fingertip

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Two key indicators of human health are pulse and respiratory rate. Being able to measure pulse (rate and rhythm) and respiratory rate (RR) in an emergency or search and rescue situation could be the difference between life and death. This paper presents novel algorithms that will equip a robot with the necessary skills to assess a human’s pulse and RR. Algorithms that calculate heart beats per minute (bpm), Pulse to Pulse Interval (PPI), RR and Breath to Breath Interval (BBI) are
presented. The bpm is used to classify if a heart rate is normal, bradycardic, or tachycardic. PPI is used to determine if the pulse rate is regular or in a form of arrhythmia. The RR and BBI are
used to determine if the humans breathing is normal and regular. The results in this paper show that pulse and breathing were successfully measured and a subject’s bpm and RR calculated
using a trough detection method following a two stage noise reduction filter. Furthermore the robotic system proved to be capable of classifying the pulse as being regular or arrhythmic
and the RR as being regular or irregular.
Original languageEnglish
JournalInternational Journal of Electrical, Electronics and Data Communication
Publication statusAccepted/In press - 17 Oct 2019


  • Tactile Sensing
  • Signal Processing
  • Artificial Intelligence
  • Human Vital Sign Detection
  • pattern recognition


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