Tele-Operated Oropharyngeal Swab (TOOS) RobotEnabled by TSS Soft Hand for Safe and EffectiveCOVID-19 OP Sampling

• URL: http://arxiv.org/abs/2109.09403v1
• Date: Mon, 20 Sep 2021 10:02:58 GMT
• Title: Tele-Operated Oropharyngeal Swab (TOOS) RobotEnabled by TSS Soft Hand for Safe and EffectiveCOVID-19 OP Sampling
• Abstract summary: To diagnose COVID-19, oropharyngeal swab (OP SWAB) sampling is generally applied for viral nucleic acid (VNA) specimen collection. Traditional robot suffers from safety, cost, and control complexity issues for wide-scale deployment. We present soft robotic technology is promising to achieve robotic OP swab sampling with excellent swab manipulability in a confined oral space.
• Score: 39.56608582360945
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: The COVID-19 pandemic has imposed serious challenges in multiple perspectives of human life. To diagnose COVID-19, oropharyngeal swab (OP SWAB) sampling is generally applied for viral nucleic acid (VNA) specimen collection. However, manual sampling exposes medical staff to a high risk of infection. Robotic sampling is promising to mitigate this risk to the minimum level, but traditional robot suffers from safety, cost, and control complexity issues for wide-scale deployment. In this work, we present soft robotic technology is promising to achieve robotic OP swab sampling with excellent swab manipulability in a confined oral space and works as dexterous as existing manual approach. This is enabled by a novel Tstone soft (TSS) hand, consisting of a soft wrist and a soft gripper, designed from human sampling observation and bio-inspiration. TSS hand is in a compact size, exerts larger workspace, and achieves comparable dexterity compared to human hand. The soft wrist is capable of agile omnidirectional bending with adjustable stiffness. The terminal soft gripper is effective for disposable swab pinch and replacement. The OP sampling force is easy to be maintained in a safe and comfortable range (throat sampling comfortable region) under a hybrid motion and stiffness virtual fixture-based controller. A dedicated 3 DOFs RCM platform is used for TSS hand global positioning. Design, modeling, and control of the TSS hand are discussed in detail with dedicated experimental validations. A sampling test based on human tele-operation is processed on the oral cavity model with excellent success rate. The proposed TOOS robot demonstrates a highly promising solution for tele-operated, safe, cost-effective, and quick deployable COVID-19 OP swab sampling.

Related papers

• AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance [52.973947477815614]
  AnyDexRT is a calibration-free method for intuitive dexterous teleoperation across human-like dexterous hands.<n>Experiments show that AnyDexRT improves quality, reduces manual tuning, and provides more intuitive and efficient control than prior methods.
  arXiv  Detail & Related papers  (2026-07-09T10:29:53Z)
• Soft Robotic Exogloves for Dexterous Mobility -- Towards Personalized Rehabilitation [0.0]
  Soft robotic exogloves can provide hand rehabilitation and assistance.<n> fitting these gloves often relies on standardized measurements not tailored to the individual.<n>We present the design, fabrication, modeling, and testing of a personalized pneumatically-actuated soft robotic exoglove.
  arXiv  Detail & Related papers  (2026-07-08T22:48:29Z)
• Towards Soft Robotic Exogloves for Musculoskeletal Manipulation to Reduce Pain and Spasticity [0.0]
  Hand spasticity and resulting pain affect 12 million people worldwide, including stroke survivors, arthritis patients, and those with other muscle and nerve deficiencies.<n>We present preliminary development of a soft robotic exoglove that both aids in mobility and administers massage-like compression to relax spastic muscles.
  arXiv  Detail & Related papers  (2026-07-08T22:24:52Z)
• The Quadruped Soft Tail: Compliant Grasping and Swabbing for Contamination Surveys in Harsh Environments [0.5233775397457061]
  We have developed a lightweight, soft, and compliant tendon-actuated robotic tail mounted on a quadruped robot.<n>The tail features a hollow, flexible backbone and a tendon-actuated soft gripper that enables the robot to pick up samples and swab contaminated surfaces.<n>The proposed system combines the agility of legged locomotion with the compliance of soft robotic manipulation.
  arXiv  Detail & Related papers  (2026-06-29T20:41:44Z)
• AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning [56.20593626288444]
  AetheRock is an arm-worn device featuring a modular and easily manufactured visuo-tactile sensor, GelSlim-MiniFab, at the fingertip.<n>We propose ForceVT, a representation learning framework that uses force and vision to guide fidelity-agnostic tactile learning.
  arXiv  Detail & Related papers  (2026-06-08T17:38:57Z)
• Development of the Bioinspired Tendon-Driven DexHand 021 with Proprioceptive Compliance Control [10.382085972192723]
  This letter presents Dex-Hand 021, a high-performance, cable-driven five-finger robotic hand with 12 active and 7 passive degrees of freedom (DoFs)<n>We propose a proprioceptive force-sensing-based admittance control method to enhance manipulation.<n> Experimental results demonstrate its superior performance: a single-finger load capacity exceeding 10 N, repeatability under 0.001 m, and force estimation errors below 0.2 N.
  arXiv  Detail & Related papers  (2025-11-05T14:07:03Z)
• Training-free image style alignment for self-adapting domain shift on handheld ultrasound devices [54.476120039032594]
  We propose the Training-free Image Style Alignment (TISA) framework to align the style of handheld device data to those of standard devices. TISA can directly infer handheld device images without extra training and is suited for clinical applications.
  arXiv  Detail & Related papers  (2024-02-17T07:15:23Z)
• RoboSense At Edge: Detecting Slip, Crumple and Shape of the Object in Robotic Hand for Teleoprations [1.1789204193530416]
  Slip and crumple detection is essential for performing robust manipulation tasks with a robotic hand (RH) like remote surgery. We propose a technique based on machine learning (ML) based techniques to detect the slip, and crumple as well as the shape of an object that is currently held in the robotic hand.
  arXiv  Detail & Related papers  (2023-11-14T03:49:20Z)
• A Prototype System for High Frame Rate Ultrasound Imaging based Prosthetic Arm Control [3.0938904602244355]
  Prototype system for high frame rate ultrasound imaging for prosthetic arm control is proposed. A virtual robotic hand simulation is developed that can mimic a human hand. The proposed classification model simulating four hand gestures has a classification accuracy of more than 90%.
  arXiv  Detail & Related papers  (2023-01-31T17:53:16Z)
• Exploiting High Quality Tactile Sensors for Simplified Grasping [1.713291434132985]
  We present a detailed analysis of the use of two different types of commercially available robotic fingertips. We conclude that a simple algorithm based on a proportional controller will suffice for many grasping applications.
  arXiv  Detail & Related papers  (2022-07-25T17:19:37Z)
• Model Predictive Control for Fluid Human-to-Robot Handovers [50.72520769938633]
  Planning motions that take human comfort into account is not a part of the human-robot handover process. We propose to generate smooth motions via an efficient model-predictive control framework. We conduct human-to-robot handover experiments on a diverse set of objects with several users.
  arXiv  Detail & Related papers  (2022-03-31T23:08:20Z)
• Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling [0.0]
  The robot is composed of a visual system, UR5 robot arm, micro-pneumatic actuator and force-sensing system. The developed robot system is validated by OP-swab sampling on both oral cavity phantoms and volunteers.
  arXiv  Detail & Related papers  (2021-02-25T08:08:48Z)
• CovidDeep: SARS-CoV-2/COVID-19 Test Based on Wearable Medical Sensors and Efficient Neural Networks [51.589769497681175]
  The novel coronavirus (SARS-CoV-2) has led to a pandemic. The current testing regime based on Reverse Transcription-Polymerase Chain Reaction for SARS-CoV-2 has been unable to keep up with testing demands. We propose a framework called CovidDeep that combines efficient DNNs with commercially available WMSs for pervasive testing of the virus.
  arXiv  Detail & Related papers  (2020-07-20T21:47:28Z)
• DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation [16.54834671357377]
  General purpose in-hand manipulation remains one of the unsolved challenges of robotics. We introduce DIGIT, an inexpensive, compact, and high-resolution tactile sensor geared towards in-hand manipulation.
  arXiv  Detail & Related papers  (2020-05-29T17:07:54Z)
• Detecting Parkinsonian Tremor from IMU Data Collected In-The-Wild using Deep Multiple-Instance Learning [59.74684475991192]
  Parkinson's Disease (PD) is a slowly evolving neuro-logical disease that affects about 1% of the population above 60 years old. PD symptoms include tremor, rigidity and braykinesia. We present a method for automatically identifying tremorous episodes related to PD, based on IMU signals captured via a smartphone device.
  arXiv  Detail & Related papers  (2020-05-06T09:02:30Z)
• OmniTact: A Multi-Directional High Resolution Touch Sensor [109.28703530853542]
  Existing tactile sensors are either flat, have small sensitive fields or only provide low-resolution signals. We introduce OmniTact, a multi-directional high-resolution tactile sensor. We evaluate the capabilities of OmniTact on a challenging robotic control task.
  arXiv  Detail & Related papers  (2020-03-16T01:31:29Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.