Tool-frame-based Admittance Control Strategies with Application to Nasal Swab Robots

Tesheng Hsiao*, Yi Jing Li*, Sin Yin Jhang*, Sheng Chieh Hsu

*此作品的通信作者

研究成果: Conference contribution同行評審

摘要

Nasal swab was intensively performed by medical workers during the COVID-19 pandemic, which unfortunately increases their infection risks. To solve this problem, this study aims to developing a robot to perform nasal swab automatically. An admittance control strategy based on the tangent-normal-binormal (TNB) frame is proposed to on-line adjust the path of the robot according to the external force/moment feedback, and confine the contact force within a pre-specified bound. Therefore, safety and comfort of nasal swab are enhanced. Experiments are conducted on a curved passage and a dummy. Quantitative performance indices are defined to evaluate the effects of the control parameters. The results show that the robot can automatically adjust its path to pass the swab through the curved passage while restrict the contact force within the pre-specified bound, despite inappropriate initial poses. Besides, experiments on the dummy show promising results for practical applications of the proposed nasal swab robot.

原文English
主出版物標題2023 International Automatic Control Conference, CACS 2023
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9798350306354
DOIs
出版狀態Published - 2023
事件2023 International Automatic Control Conference, CACS 2023 - Penghu, 台灣
持續時間: 26 10月 202329 10月 2023

出版系列

名字2023 International Automatic Control Conference, CACS 2023

Conference

Conference2023 International Automatic Control Conference, CACS 2023
國家/地區台灣
城市Penghu
期間26/10/2329/10/23

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