A respiration measurement system for vital signs was developed. Respiration signals were measured, processed, and analyzed. Four electrodes, attached on the surface of the skin, were used to monitor respiration signals by impedance pneumography. The measured signals were amplified, detrended, filtered, and transferred toan embedded module. The Kalman filter was used to remove motion artifact from the respiration signals. Experiments were conducted at stable condition and walking condition to evaluate the performance of the system. Respiration rates of five males and five females were measured and analyzed at each condition. The referenced respiration signal was determined by temperature of nose surroundings. The results showed that the respiration rates at the walking condition had more motion artifacts than the stable condition. The accuracies of the respiration measurement system with Kalman filter were found as 96% at the stable condition and 95% at the walking condition. The results showed that the Kalman filter was an effective tool to remove the motion artifact from the respiration signal.