Integrating a 3-Axis Tactile Sensor Array on AIREC Robot for Human-Like Radial Pulse Measuring

Radial pulse measurement is an important physi- ological assessment method in healthcare and wellness monitor- ing. While most existing pulse measuring devices are dedicated instruments requiring precise placement, this work explores a human-like approach using a general-purpose humanoid robot. In this work, we present a proof-of-concept study on radial pulse measurement using the AIREC humanoid robot equipped with a 3-axis 8×6 matrix uSkin tactile sensor embedded in its palm. A dual-arm motion strategy allows one hand to support the subject’s wrist while the other applies gentle pressure for stable human-robot contact. Contact stability is evaluated by both normal and shear measurements. Then, the tactile signals from the array are scanned to identify the optimal sensing location, and bandpass filtering is applied to extract the pulse waveform. Preliminary results show accurate pulse rate estimation compared with a commercial pulse oximeter, demonstrating the feasibility of a human-like bio-information measurement in humanoid robots.