Fig. 5: Electrocardiogram (ECG) monitoring sensing robot with LIO.
From: 3D printed leech-inspired origami dry electrodes for electrophysiology sensing robots
a Schematic of the equipped LIO sensor for ECG measurement on the humanoid robot fingertip. b The actual images of the ECG sensing process through human–robot interaction. All photos are produced under the agreement of the participant. c The detailed images of the robot fingers near the contact. The ECG signals are collected near the heart of the human subject. d Comparison of ECG signals from the sensing robot and conventional wet ECG sensor. e Collected ECG signals before and after the exercise.
