An Integrated Soft Robotic System for Measuring Vital Signs in Search and Rescue Environments

Abstract

Robots are frequently utilized in search-and-rescue operations. In recent years, significant advancements have been made in the field of victim assessment. However, there are still open issues regarding heart rate measurement, and no studies have been found that assess pressure in post-disaster scenarios. This work designs a soft gripper and integrates it into a mobile robotic system, thereby creating a device capable of measuring the pulse and blood pressure of victims in post-disaster environments. The gripper is designed to envelop the victim's arm and inflate like a sphygmomanometer, facilitated by a specialized portability system. The utilization of different signal processing algorithms has enabled the attainment of a pulse bias of \qty{4}{\bpm} and a bias of approximately \qty{5}{\mmHg} for systolic and diastolic pressures. The findings, in conjunction with the other statistical data and the validation of homoscedasticity in the error terms, prove the system's capacity to accurately determine heart rate and blood pressure, thereby rendering it suitable for search and rescue operations. Finally, a post-disaster has been employed as a test to validate the functionality of the entire system and to demonstrate its capacity to adapt to various victim positions, its measurement speed, and its safety for victims.

Figures (14)

• Figure 1: Diagram of the system architecture.
• Figure 2: Design and components of the pneumatic gripper subsystem: a) Picture of the subsystem. b) Components of the clamp. c) Section of the inflatable module of the clamp. d) Connection between the electronics case, where the pneumatic feed tube passes through, and the first segment of the inflatable module.
• Figure 3: Schematic diagram of the system measurement elements.
• Figure 4: Schematic diagram of the pneumatic system.
• Figure 5: Functionality of the pneumatic system. a) Actuator closure. b) Actuator opening. c) Pressure measurement. d) Process of inflating and deflating the clamp and cuff.