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Table 1 Accuracy of vital data sensing (average and standard deviation of measurement errors. Heartbeat rate and respiratory rate are measured in 1 min for five subjects and five trials)

From: Development of ROS-TMS 5.0 for informationally structured environment

  Heartbeat rate Respiratory rate
At rest (heartbeat: 60–80, respiratory: 10–20 times/min.)
RGB-D camera \(19.0 \pm 4.44\) \(0.44 \pm 0.55\)
Microwave sensor \(20.5 \pm 13.94\) \(3.01 \pm 1.06\)
During exercise (heartbeat: 80–110, respiratory: 20–30 times/min.)
RGB-D camera \(24.37 \pm 6.37\) \(0.48 \pm 0.50\)
Microwave sensor \(10.39 \pm 6.51\) \(4.75 \pm 1.25\)