@inproceedings{fc92c4e8001945a1bfe85d6796170559,
title = "Tool-frame-based Admittance Control Strategies with Application to Nasal Swab Robots",
abstract = "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.",
keywords = "admittance control, compliance control, nasal swab robot, self-adjusting path",
author = "Tesheng Hsiao and Li, {Yi Jing} and Jhang, {Sin Yin} and Hsu, {Sheng Chieh}",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 International Automatic Control Conference, CACS 2023 ; Conference date: 26-10-2023 Through 29-10-2023",
year = "2023",
doi = "10.1109/CACS60074.2023.10325846",
language = "English",
series = "2023 International Automatic Control Conference, CACS 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2023 International Automatic Control Conference, CACS 2023",
address = "美國",
}