Measurement of Capillary Refill Time (CRT) in Healthy Subjects using a Robotic Hand

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A human’s Capillary Refill Time (CRT) is a key indicator of their current health status. Being able to accurately assess a human’s cardiovascular system peripherally by assessing their CRT in an emergency or search and rescue situation could, in critical scenarios, mean the difference between life and death. This paper presents a novel algorithm that enables a Shadow Robot Hand equipped with BioTAC biomimetic tactile fingertip sensors and a red, green, blue (RGB) camera to measure the CRT of humans by making contact with their forehead, regardless of their skin tone.
The method presented replicates, to some extent, the methods carried out by medical professionals when measuring CRT and could be used to equip a first responder robot.
Furthermore, the algorithms determine whether a person has a healthy cardiovascular system or whether the blood supply has been cut off from the skin indicating various issues such as shock or severe dehydration. The method presented in this work allows for a more accurate measurement of CRT than that of a medical professional.
Original languageEnglish
Number of pages1411
Publication statusAccepted/In press - 4 Apr 2018
EventCVPR 2018: Conference on Computer Vision and Pattern Recognition - Calvin L Rampton Salt Palace Convention Centre, Salt Lake City, United States
Duration: 18 Jun 201822 Jun 2018


ConferenceCVPR 2018
Abbreviated titleIEEE/CVF Conference
Country/TerritoryUnited States
CitySalt Lake City
Internet address


  • Tactile Sensing
  • Robotics
  • vital signs
  • Assisted living
  • Computer Vision


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