Sistem Pemantauan Tanda Vital Manusia Berbasis Mobile Robot Menggunakan Radar Continuous Wave

Faiz, Aditya (2026) Sistem Pemantauan Tanda Vital Manusia Berbasis Mobile Robot Menggunakan Radar Continuous Wave. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penyakit menular masih menjadi salah satu tantangan utama dalam pelayanan kesehatan dan mendorong kebutuhan terhadap sistem pemantauan tanda vital yang mampu bekerja dengan minimisasi kontak langsung. Metode pemantauan berbasis kontak seperti electrocardiography (ECG) dan photoplethysmography (PPG) masih memerlukan pemasangan sensor langsung pada tubuh sehingga memiliki keterbatasan dari sisi kenyamanan, fleksibilitas penggunaan, dan kebutuhan interaksi fisik selama proses observasi. Penelitian ini mengembangkan sistem pemantauan tanda vital non-kontak berbasis radar Continuous Wave (CW) 24 GHz yang diintegrasikan pada omnidirectional mobile robot, sehingga posisi dan orientasi pengukuran radar dapat disesuaikan terhadap subjek tanpa ketergantungan pada penempatan sensor yang tetap. Sistem mengakuisisi sinyal I/Q dari radar CW kemudian memprosesnya menggunakan algoritma Modified Differentiate and Cross-Multiply (MDACM) untuk mengekstrak sinyal fase gerakan dada yang selanjutnya didekomposisi menggunakan Successive Variational Mode Decomposition (SVMD) untuk memisahkan komponen respirasi dan detak jantung. Platform omnidirectional mobile robot dilengkapi dengan sistem kontrol dan model invers kinematik untuk memastikan pergerakan yang stabil menuju posisi pengukuran, di mana akuisisi sinyal dilakukan setelah robot dalam kondisi diam. Pengujian dilakukan terhadap 9 subjek pada tiga variasi jarak (40 cm, 60 cm, dan 80 cm) serta tambahan satu subjek untuk tujuh variasi sudut (-45° hingga 45°). Hasil pengujian pada variasi jarak menunjukkan MAE HR dalam rentang 1.44–1.89 BPM dengan MAPE HR sebesar 1.82–2.38%, serta MAE RR dalam rentang 0.67–1.00 BrPM dengan MAPE RR sebesar 3.09–5.43%.Tidak terdapat tren penurunan akurasi yang signifikan seiring bertambahnya jarak dan rentang sudut -15° hingga 15° dari posisi frontal memberikan hasil estimasi yang paling optimal. Sistem yang dikembangkan menunjukkan potensi pengembangan sebagai solusi pemantauan tanda vital non-kontak berbasis radar dan mobile robot pada skenario pengukuran yang memerlukan fleksibilitas dan minimisasi kontak langsung.
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Infectious diseases remain one of the major challenges in healthcare services and increase the need for vital sign monitoring systems capable of operating with minimal physical contact. Contact-based monitoring methods such as electrocardiography (ECG) and photoplethysmography (PPG) still require direct sensor attachment to the body, resulting in limitations in terms of comfort, flexibility, and physical interaction during the monitoring process. This study develops a non-contact vital sign monitoring system based on a 24 GHz Continuous Wave (CW) radar integrated with an omnidirectional mobile robot, allowing the radar measurement position and orientation to be adjusted toward the subject without dependence on fixed sensor placement. The system acquires I/Q signals from the CW radar and processes them using the Modified Differentiate and Cross-Multiply (MDACM) algorithm to extract chest motion phase signals, which are subsequently decomposed using Successive Variational Mode Decomposition (SVMD) to separate respiratory and heartbeat components. The omnidirectional mobile robot platform is equipped with a control system and inverse kinematic model to ensure stable movement toward the measurement position, where signal acquisition is performed after the robot reaches a stationary condition. Experiments were conducted on nine subjects at three distance variations (40 cm, 60 cm, and 80 cm), along with an additional subject for seven angular variations (-45° to 45°). The experimental results for distance variations showed HR MAE values ranging from 1.44–1.89 BPM with HR MAPE values of 1.82–2.38%, while RR MAE values ranged from 0.67–1.00 BrPM with RR MAPE values of 3.09–5.43%. No significant decrease in accuracy was observed as the measurement distance increased, and the angular range of -15° to 15° from the frontal position provided the most optimal estimation results. The developed system demonstrates potential for further development as a non-contact vital sign monitoring solution based on radar and mobile robots for measurement scenarios requiring flexibility and minimized physical contact.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Continuous Wave Radar, Tanda Vital, Mobile Robot ; Continuous Wave Radar, Vital Signs, Mobile Robot
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5102.9 Signal processing.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	Aditya Faiz
Date Deposited:	31 Jul 2026 08:31
Last Modified:	31 Jul 2026 08:31
URI:	http://repository.its.ac.id/id/eprint/140731

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