“…A robotic assistant for tele-medicine applications must be equipped with non-invasive bio-sensors. Over the past years, much effort has been placed on developing non-invasive measurement techniques for biomedical applications (King, 2003;He, 2005;Bachiochi, 2005;Jubran, 1999;Webster, 1997;Puentes et al, 2007;Korsunsky et al, 2005;Thrush et al, 2004;Olesberg, 2004;Macknet et al, 2007;Kraitl and Ewald, 2005;Ewald and Kraitl, 2007;Spigulis et al, 2004;Spigulis, 2005;March, 2001;Waynant and Chenault, 1998;Cho et al, 2004;Yamakoshi et al, 2007). A number of such devices are based on utilising optical techniques.…”