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Ragunathan Jayaraman / JOJAPS – JOURNAL ONLINE JARINGAN PENGAJIAN SENI BINA 0125658514

The NAO mark also used for access verification to identify authorized personnel who can handle the robot. The radius
NAO mark is used as a reference to make the NAO robot walk towards the direction of the child. After the NAO reached to the
middle of the target distance, it will switch to a red colour object tracker in order to identify the exact location of the finger. The
NAO robot will stop at a safe distance and the robot will align its right arm position in a straight line to the child finger. For this
robot move a few steps to the left direction. After that it will be crouched to grip the finger.

The measurement process of Pulse Oximeter tested with 2 possible conditions. Firstly, the measurement reading is correctly
obtained and it is within the valid region. Secondly, we tested with some error conditions such as intentionally does not place
the finger properly on the sensor. By this, we checked whether the robot able to differentiate between valid and invalid
measurement data. As a result, the robot managed to identify the invalid measurement data and rechecked the grip level and
proceed the Heart rate and Oxygen saturation measurement process to obtain correct data. In order to verify the accuracy of
project result, we simultaneously tested the Pulse Oximeter sensor with a commercial Choice Med MD300-D Finger Pulse
Oximeter. This portable Pulse Oximeter has accuracy of ±2% for Oxygen saturation reading and ±2bpm for Heart rate reading.
The figures below shows comparison between the 2 resources.

Figure 6.0: Comparison between measured data of project and Portable Oximeter data for Heart Rate

Figure 6.1: Comparison between measured data of project and Portable Oximeter data for Oxygen Saturation

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