Park, Chaewon Choi, Ingu Roh, Juhyeong Lim, So Yun Kim, Sung-Han Lee, Jongwon Yang, Sungwook 2024-01-19T08:38:20Z 2024-01-19T08:38:20Z 2022-04-30 2021-10 1557-170X https://pubs.kist.re.kr/handle/201004/113322 Nasopharyngeal swab is the most widely used diagnostic test for COVID-19 detection. However, enormous tests have posed a high risk of infection to medical professionals due to close contact with patients and substantial health burden. While automation of the nasopharyngeal swab is regarded as a potential solution to address these problems, the quantitative study of force for safe and effective control has not been widely performed yet. Hence, this study presents applied force during the standard nasopharyngeal swab sampling procedure using a handheld sensorized instrument. The sensorized instrument can simultaneously measure multi-axis forces and 6-DOF hand motion while allowing natural hand motion as is used in the standard swab sampling. To accurately measure force from the handheld instrument, the compensation of gravity bias is accomplished online while estimating the orientation of the hand with an embedded IMU sensor. As a result, the instrument can measure all three-axes forces by an error below 5 mN. A simulated test on a phantom model using the sensorized instrument shows that how the forces vary during the sampling sequences. English IEEE Evaluation of Applied Force During Nasopharyngeal Swab Sampling Using Handheld Sensorized Instrument Conference 10.1109/EMBC46164.2021.9629916 1 43rd Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (IEEE EMBC), pp.2207 - 2210 43rd Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (IEEE EMBC) 2207 2210 US Online 2021-10-31 2021 43RD ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE & BIOLOGY SOCIETY (EMBC) 000760910502053 2-s2.0-85122544303