In addition, unlike a sphygmomanometer, an ECG–PPG paired sensing system can continuously monitor BP 8, 10. PAT is determined using fiducial points, including the R-wave and the systolic peak of the ECG and PPG waveforms 8, 9. The pulse arrival time (PAT) parameter, which indicates the time taken for the pulse waveforms to traverse from the heart to a distal site, is often used in a paired sensing system 7. Thus, a cuffless monitoring system combining sensing tools of electrocardiogram (ECG) 5 and photoplethysmography (PPG) 6 is rational. For the development of BP monitoring using robots, conventional methods with a cuff-based sphygmomanometer are not feasible because they cannot perform continuous monitoring of patients 4. From this point of view, the use of sensing robots in medical healthcare systems has substantial advantages because they can assist healthcare workers in monitoring the vital signs of patients and creating a friendly environment for those patients who may need to be isolated 3. This increases the demand for BP monitoring systems of patients in their daily lives 4. In addition, hypertension or high BP is a pre-existing symptom or precursor of possible infection in patients. Blood pressure (BP) is an essential medical diagnostic tool in the medical healthcare system because high BP is closely related to several chronic diseases 3. Robotics offers a promising method to mitigate risk and improve patient care effectiveness and quality as a focused remote healthcare technology 2. Remote monitoring systems of human healthcare have been widely studied because they can reduce the risk of secondary infection among healthcare workers 1. The LIO sensing system inspired by origami and leech behaviors makes BP sensing tools feasible, which in turn would further the development of a remote healthcare monitoring robotic system. The average difference of the systolic BP between that estimated by the sensing robot and that monitored by the sphygmomanometer was 0.03 mmHg, indicating the reliable BP monitoring ability of the sensing robot. From the paired detection of ECG and photoplethysmography (PPG) through human–robot interaction, BP monitoring was demonstrated. The LIO with a sensing robot system ensures reliable ECG signals with a signal-to-noise ratio of 21.7 ± 0.56 dB. Subsequently, an electrocardiogram (ECG) sensor, termed a leech-inspired origami (LIO) sensor, was constructed using the developed dry electrode. The leech-inspired suction mechanism generated a local soft vacuum facilitating appropriate contact with the human skin. In this study, based on inspiration drawn from origami and the suction mechanism of leeches, a dry electrode is developed for reliable blood pressure (BP) monitoring.
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