软体机械手可测灾后伤员心率与血压，误差小且安全。
An Integrated Soft Robotic System for Measuring Vital Signs in Search and Rescue Environments
- 用可膨胀软夹持器包裹手臂，模拟血压计测量方式。
- 心率误差仅4 bpm，血压误差约5 mmHg，结果稳定可靠。
- 适合灾后复杂环境，能快速、安全地评估多种体位的伤员。
机器人在搜救中应用广泛，但对伤员心率和血压的测量仍存挑战，尤其缺乏灾后场景下的压力监测研究。本文设计了一款软体夹持器并集成于移动机器人系统，实现灾后环境中对伤员脉搏和血压的测量。夹持器可环绕手臂并像血压计一样充气，配合多种信号处理算法，使心率测量偏差为4 bpm，收缩压与舒张压偏差均约为5 mmHg。结合误差项同方差性验证及统计分析，表明系统具备高准确性。最终通过灾后场景测试，验证了系统在不同伤员体位下的适应性、测量速度及对伤员的安全性。
原文摘要 · Abstract (English)
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.
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