Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling

  title={Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling},
  author={Yingbai Hu and Jian Li and Yongquan Chen and Qiwen Wang and Chuliang Chi and Heng Zhang and Qing Gao and Yuanmin Lan and Zheng Li and Zonggao Mu and Zhenglong Sun and Alois Knoll Robotics and Intelligent ManufacturingSchool of Science and Engineering and The Hong Kong and Shenzhen and China. and Shenzhen Institute of Artificial Intelligence and Robotics for Society and Chair of Robotics and Artificial Intelligence and Real-time Systems and Technische Universit Munchen and Munchen and Germany and Department of Orthopaedic Surgery and Chow Yuk Ho Technology Centre for Innovative Medicine and Hong Kong and School of Electrical Engineering and Shandong University of Technology and Zibo and Longgang District People's Hospital of Shenzhen and China.},
  journal={IEEE Robotics and Automation Letters},
The outbreak of novel coronavirus pneumonia (COVID-19) has caused mortality and morbidity worldwide. Oropharyngeal-swab (OP-swab) sampling is widely used for the diagnosis of COVID-19 in the world. To avoid the clinical staff from being affected by the virus, we developed a 9-degree-of-freedom (DOF) rigid-flexible coupling (RFC) robot to assist the COVID-19 OP-swab sampling. This robot is composed of a visual system, UR5 robot arm, micro-pneumatic actuator and force-sensing system. The robot is… 

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