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.

翻译：机器人常被用于搜救行动。近年来，伤员评估领域取得了显著进展。然而，在心率测量方面仍存在未解决问题，且目前未发现任何评估灾后情景下压力的研究。本研究设计了一种软体夹爪，并将其集成到移动机器人系统中，从而创造出一款能够在灾后环境中测量伤员脉搏和血压的设备。该夹爪设计用于包裹伤员手臂，并像血压计一样充气，这一功能通过专用便携系统实现。利用不同的信号处理算法，脉搏测量偏差已达到\qty{4}{\bpm}，收缩压和舒张压的偏差约为\qty{5}{\mmHg}。结合其他统计数据及误差项同方差性的验证，这些结果表明该系统能够准确测定心率和血压，因此适用于搜救作业。最后，采用一种灾后场景作为测试，验证了整个系统的功能，并展示了其对不同伤员位置的适应性、测量速度以及对伤员的安全性。