The cardio-respiratory signal is a fundamental vital sign used for assessment of a patient's status. Additionally, the cardio-respiratory signal provides a great deal of information to healthcare providers wishing to monitor healthy individuals. The air mattress sensor system allows the measurement of the respiration and heart beat movements without the use of a harness or sensor on the subject's body, which eliminates the difficulties these pose for long term measurements. In order to increase the sensitivity, a differential measurement technique between two air cells was used. The concept of a balancing tube between two air cells is suggested in order to increase the robustness against postural changes during the measurements. With this balancing tube, the meaningful frequency range could be selected using a pneumatic method. A mathematical model was constructed and validation experiments were performed for step and sinusoidal input signals. This technique was applied to measurements of respiration and heart beat movements in the supine posture on the bed, which showed potential for applications in sleep analysis, unconstrained healthcare monitoring and neonate monitoring.