Maeng, Chan-Young Yoon, Jongjun Kim, Do-Yun Lee, Jongwon Kim, Yong-Jae 2024-01-19T11:02:42Z 2024-01-19T11:02:42Z 2022-09-08 2022-10 2377-3766 https://pubs.kist.re.kr/handle/201004/114514 The demand for autonomous nasopharyngeal swab sampling robot systems is increasing owing to the recent outbreak of the respiratory virus pandemic. To protect the medical staff from infection, automatic upper respiratory sample collecting robotic systems are needed. The nasopharyngeal swab sampling robot proposed in this study is composed of a unique force restriction mechanism, a precise 3-axis force sensor, and a compact remote center of motion (RCM) mechanism, which are designed to enhance safety and efficiency. The proposed force restriction mechanism has a constant repulsive force finely adjustable using specially designed leaf spring structures. The force sensor is a capacitance-type 3-axis force sensor based on flexure mechanisms. Owing to the RCM mechanism, the distal end of the swab remains stationary. The effectiveness of the proposed robot was verified by various experiments, including restriction force measurement and a sampling success rate test. English Institute of Electrical and Electronics Engineers Inc. Development of an Inherently Safe Nasopharyngeal Swab Sampling Robot Using a Force Restriction Mechanism Article 10.1109/LRA.2022.3187499 1 IEEE Robotics and Automation Letters, v.7, no.4, pp.11150 - 11157 IEEE Robotics and Automation Letters 7 4 11150 11157 N scie scopus 000845062300015 Robotics Robotics Article Nasopharyngeal swab sampling robot force restriction mechanism design force sensor