ポケットサイズロボットとの短時間触覚インタラクションにおける埋め込み型光電容積脈波センシングの実現可能性：IMUと信頼度に基づくフィルタリングを用いて
Feasibility of Embedded Photoplethysmography Sensing in Short-Duration Tactile Interactions With Pocket-Sized Robots Using IMU- and Confidence-Based Filtering
ポケットサイズのコンパニオンロボットにPPGセンサを埋め込み、触覚インタラクション中の心拍数を計測する手法を提案。IMUと信頼度ベースのフィルタリングでモーションアーティファクトを低減し、手首装着センサと同等の精度を実証した。
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著者: Turjja Datta, Morten Roed Frederiksen
分類: cs.RO
原文アブストラクト
Ubiquitous companion robots offer a promising avenue for immediate anxiety relief in children, yet their effectiveness relies on the ability to monitor physiological states continuously and unobtrusively. Current solutions often depend on external wearables, which impose usability barriers and limit the robot's autonomy. This paper investigates the integration of an embedded photoplethysmography (PPG) sensor directly into a pocket-sized companion robot, AffectaPocket, to enable self-contained heart rate monitoring during tactile interaction. We address the significant challenge of motion artifacts inherent in handheld usage by implementing a two-stage filtering pipeline that utilizes an onboard Inertial Measurement Unit (IMU) to reject high-variance segments and a confidence-based smoothing algorithm for recovery periods. We evaluated the system against a commonly used wrist worn sensor in a Within-Subjects Study with 26 participants. Our results demonstrate that the filtering strategy significantly reduced the Mean Absolute Percentage Error and achieved statistical equivalence to the ground truth measurements (p<0.05). Analysis of short-duration interactions shows that the sensor requires stability over longer periods to converge.