Doctor Robots: Design and Implementation of a Heart Rate Estimation Algorithm

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dc.authoridGongor, Fatma/0000-0002-9111-3726
dc.authoridTutsoy, Onder/0000-0001-6385-3025
dc.contributor.authorGongor, Fatma
dc.contributor.authorTutsoy, Onder
dc.date.accessioned2025-04-09T09:20:53Z
dc.date.available2025-04-09T09:20:53Z
dc.date.issued2022
dc.description.abstractPopulations are ageing and the healthcare costs are increasing accordingly. Humanoid Robots (HRs) perform basic but crucial health checkups such as the heart rate can efficiently meet the healthcare demands. This paper develops a 9-stage heart rate estimation algorithm and implements it to an HR. The 9-stages cover the recognition of the face with the Viola-Jones algorithm, determination of the facial regions with the geometric-based facial distance measurement technique, extraction of the forehead and cheek regions, tracking of these facial regions with the Hierarchical Multi Resolution algorithm, decomposition of the facial regions in the Red-Green-Blue (RGB) color channels, averaging and normalization of the RGB color data, elimination of the artifacts with the Adaptive Independent Component Analysis (ICA) technique, calculating the power spectrum of the data with the Fast Fourier Transform (FFT) technique, and finally determining the peaks inside the threshold reflecting the human heart rate boundaries. One of the key contributions of this paper is building and incorporating the Hierarchical Multi Resolution technique in the heart rate estimation algorithm to eliminate the deteriorating effects of the human and camera motions. A further contribution of this paper is generating a rule-based approach to discard the effects of the sudden movements. These two contributions have noticeably improved the accuracy of the heart rate estimation algorithm in the dynamic environments. The algorithm has been assessed extensively with 5 different experimental scenarios consisting of 33 conditions.
dc.description.sponsorshipTurkish Council of Higher Education; Scientific and Research Council of Turkey (TuBTAK)
dc.description.sponsorshipThis research is funded by The Turkish Council of Higher Education (YoK) and The Scientific and Research Council of Turkey (TuBTAK).
dc.identifier.doi10.1007/s12369-022-00888-9
dc.identifier.endpage1461
dc.identifier.issn1875-4791
dc.identifier.issn1875-4805
dc.identifier.issue6
dc.identifier.scopus2-s2.0-85131297094
dc.identifier.scopusqualityQ1
dc.identifier.startpage1435
dc.identifier.urihttps://doi.org/10.1007/s12369-022-00888-9
dc.identifier.urihttps://hdl.handle.net/20.500.14669/3440
dc.identifier.volume14
dc.identifier.wosWOS:000805090900002
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSpringer
dc.relation.ispartofInternational Journal of Social Robotics
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_20241211
dc.subjectAdaptive independent component analysis technique
dc.subjectGeometric based facial distance measurement technique
dc.subjectFast Fourier transform
dc.subjectHierarchical multi resolution-based tracking algorithm
dc.subjectVision-based heart rate estimation
dc.titleDoctor Robots: Design and Implementation of a Heart Rate Estimation Algorithm
dc.typeArticle

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