Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling
Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuo-tactile sensor and the pneumatic actuator-based gripper. Here, a concave visuo-tactile sensor called CoTac is fi...
Gespeichert in:
| Veröffentlicht in: | arXiv.org 2023-05 |
|---|---|
| Hauptverfasser: | , , , , , , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | |
|---|---|
| container_issue | |
| container_start_page | |
| container_title | arXiv.org |
| container_volume | |
| creator | Li, Shoujie He, Mingshan Ding, Wenbo Ye, Linqi Wang, Xueqian Tan, Junbo Yuan, Jinqiu Zhang, Xiao-Ping |
| description | Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuo-tactile sensor and the pneumatic actuator-based gripper. Here, a concave visuo-tactile sensor called CoTac is first proposed to address the problems of high cost and poor reliability of traditional multi-axis force sensors. Besides, by imitating the doctor's fingers, a soft pneumatic actuator with a rigid skeleton structure is designed, which is demonstrated to be reliable and safe via finite element modeling and experiments. Furthermore, we propose a sampling method that adopts a compliant control algorithm based on the adaptive virtual force to enhance the safety and compliance of the swab sampling process. The effectiveness of the device has been verified through sampling experiments as well as in vivo tests, indicating great application potential. The cost of the device is around 30 US dollars and the total weight of the functional part is less than 0.1 kg, allowing the device to be rapidly deployed on various robotic arms. Videos, hardware, and source code are available at: https://sites.google.com/view/swab-sampling/. |
| format | Article |
| fullrecord | <record><control><sourceid>proquest</sourceid><recordid>TN_cdi_proquest_journals_2812870325</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>2812870325</sourcerecordid><originalsourceid>FETCH-proquest_journals_28128703253</originalsourceid><addsrcrecordid>eNqNyrsKwjAUgOEgCIr2HQ44F2JibXcvuClUHFzKsR5rJE1qLopvr4IP4PQP399jQyHlNC1mQgxY4v2Ncy7mucgyOWTHg_LRBqyD0gQlGW8drAyeNJ1hZyi2GFQNS3qommBvn-jOHha27bRCE2DrbHdF9zINoYbyiSco8YumGbP-BbWn5NcRm6xX-8Um7Zy9R_KhutnozIcqUUxFkXMpMvnf9QZrxkMQ</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2812870325</pqid></control><display><type>article</type><title>Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling</title><source>Free E- Journals</source><creator>Li, Shoujie ; He, Mingshan ; Ding, Wenbo ; Ye, Linqi ; Wang, Xueqian ; Tan, Junbo ; Yuan, Jinqiu ; Zhang, Xiao-Ping</creator><creatorcontrib>Li, Shoujie ; He, Mingshan ; Ding, Wenbo ; Ye, Linqi ; Wang, Xueqian ; Tan, Junbo ; Yuan, Jinqiu ; Zhang, Xiao-Ping</creatorcontrib><description>Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuo-tactile sensor and the pneumatic actuator-based gripper. Here, a concave visuo-tactile sensor called CoTac is first proposed to address the problems of high cost and poor reliability of traditional multi-axis force sensors. Besides, by imitating the doctor's fingers, a soft pneumatic actuator with a rigid skeleton structure is designed, which is demonstrated to be reliable and safe via finite element modeling and experiments. Furthermore, we propose a sampling method that adopts a compliant control algorithm based on the adaptive virtual force to enhance the safety and compliance of the swab sampling process. The effectiveness of the device has been verified through sampling experiments as well as in vivo tests, indicating great application potential. The cost of the device is around 30 US dollars and the total weight of the functional part is less than 0.1 kg, allowing the device to be rapidly deployed on various robotic arms. Videos, hardware, and source code are available at: https://sites.google.com/view/swab-sampling/.</description><identifier>EISSN: 2331-8422</identifier><language>eng</language><publisher>Ithaca: Cornell University Library, arXiv.org</publisher><subject>Actuators ; Adaptive control ; Algorithms ; Biomedical materials ; Control algorithms ; Control theory ; Fingers ; Finite element method ; In vivo methods and tests ; Pneumatics ; Robot arms ; Sampling methods ; Sensors ; Source code ; Tactile sensors (robotics)</subject><ispartof>arXiv.org, 2023-05</ispartof><rights>2023. This work is published under http://arxiv.org/licenses/nonexclusive-distrib/1.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>776,780</link.rule.ids></links><search><creatorcontrib>Li, Shoujie</creatorcontrib><creatorcontrib>He, Mingshan</creatorcontrib><creatorcontrib>Ding, Wenbo</creatorcontrib><creatorcontrib>Ye, Linqi</creatorcontrib><creatorcontrib>Wang, Xueqian</creatorcontrib><creatorcontrib>Tan, Junbo</creatorcontrib><creatorcontrib>Yuan, Jinqiu</creatorcontrib><creatorcontrib>Zhang, Xiao-Ping</creatorcontrib><title>Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling</title><title>arXiv.org</title><description>Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuo-tactile sensor and the pneumatic actuator-based gripper. Here, a concave visuo-tactile sensor called CoTac is first proposed to address the problems of high cost and poor reliability of traditional multi-axis force sensors. Besides, by imitating the doctor's fingers, a soft pneumatic actuator with a rigid skeleton structure is designed, which is demonstrated to be reliable and safe via finite element modeling and experiments. Furthermore, we propose a sampling method that adopts a compliant control algorithm based on the adaptive virtual force to enhance the safety and compliance of the swab sampling process. The effectiveness of the device has been verified through sampling experiments as well as in vivo tests, indicating great application potential. The cost of the device is around 30 US dollars and the total weight of the functional part is less than 0.1 kg, allowing the device to be rapidly deployed on various robotic arms. Videos, hardware, and source code are available at: https://sites.google.com/view/swab-sampling/.</description><subject>Actuators</subject><subject>Adaptive control</subject><subject>Algorithms</subject><subject>Biomedical materials</subject><subject>Control algorithms</subject><subject>Control theory</subject><subject>Fingers</subject><subject>Finite element method</subject><subject>In vivo methods and tests</subject><subject>Pneumatics</subject><subject>Robot arms</subject><subject>Sampling methods</subject><subject>Sensors</subject><subject>Source code</subject><subject>Tactile sensors (robotics)</subject><issn>2331-8422</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2023</creationdate><recordtype>article</recordtype><sourceid>BENPR</sourceid><recordid>eNqNyrsKwjAUgOEgCIr2HQ44F2JibXcvuClUHFzKsR5rJE1qLopvr4IP4PQP399jQyHlNC1mQgxY4v2Ncy7mucgyOWTHg_LRBqyD0gQlGW8drAyeNJ1hZyi2GFQNS3qommBvn-jOHha27bRCE2DrbHdF9zINoYbyiSco8YumGbP-BbWn5NcRm6xX-8Um7Zy9R_KhutnozIcqUUxFkXMpMvnf9QZrxkMQ</recordid><startdate>20230511</startdate><enddate>20230511</enddate><creator>Li, Shoujie</creator><creator>He, Mingshan</creator><creator>Ding, Wenbo</creator><creator>Ye, Linqi</creator><creator>Wang, Xueqian</creator><creator>Tan, Junbo</creator><creator>Yuan, Jinqiu</creator><creator>Zhang, Xiao-Ping</creator><general>Cornell University Library, arXiv.org</general><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>L6V</scope><scope>M7S</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope></search><sort><creationdate>20230511</creationdate><title>Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling</title><author>Li, Shoujie ; He, Mingshan ; Ding, Wenbo ; Ye, Linqi ; Wang, Xueqian ; Tan, Junbo ; Yuan, Jinqiu ; Zhang, Xiao-Ping</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-proquest_journals_28128703253</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2023</creationdate><topic>Actuators</topic><topic>Adaptive control</topic><topic>Algorithms</topic><topic>Biomedical materials</topic><topic>Control algorithms</topic><topic>Control theory</topic><topic>Fingers</topic><topic>Finite element method</topic><topic>In vivo methods and tests</topic><topic>Pneumatics</topic><topic>Robot arms</topic><topic>Sampling methods</topic><topic>Sensors</topic><topic>Source code</topic><topic>Tactile sensors (robotics)</topic><toplevel>online_resources</toplevel><creatorcontrib>Li, Shoujie</creatorcontrib><creatorcontrib>He, Mingshan</creatorcontrib><creatorcontrib>Ding, Wenbo</creatorcontrib><creatorcontrib>Ye, Linqi</creatorcontrib><creatorcontrib>Wang, Xueqian</creatorcontrib><creatorcontrib>Tan, Junbo</creatorcontrib><creatorcontrib>Yuan, Jinqiu</creatorcontrib><creatorcontrib>Zhang, Xiao-Ping</creatorcontrib><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>Publicly Available Content Database</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Li, Shoujie</au><au>He, Mingshan</au><au>Ding, Wenbo</au><au>Ye, Linqi</au><au>Wang, Xueqian</au><au>Tan, Junbo</au><au>Yuan, Jinqiu</au><au>Zhang, Xiao-Ping</au><format>book</format><genre>document</genre><ristype>GEN</ristype><atitle>Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling</atitle><jtitle>arXiv.org</jtitle><date>2023-05-11</date><risdate>2023</risdate><eissn>2331-8422</eissn><abstract>Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuo-tactile sensor and the pneumatic actuator-based gripper. Here, a concave visuo-tactile sensor called CoTac is first proposed to address the problems of high cost and poor reliability of traditional multi-axis force sensors. Besides, by imitating the doctor's fingers, a soft pneumatic actuator with a rigid skeleton structure is designed, which is demonstrated to be reliable and safe via finite element modeling and experiments. Furthermore, we propose a sampling method that adopts a compliant control algorithm based on the adaptive virtual force to enhance the safety and compliance of the swab sampling process. The effectiveness of the device has been verified through sampling experiments as well as in vivo tests, indicating great application potential. The cost of the device is around 30 US dollars and the total weight of the functional part is less than 0.1 kg, allowing the device to be rapidly deployed on various robotic arms. Videos, hardware, and source code are available at: https://sites.google.com/view/swab-sampling/.</abstract><cop>Ithaca</cop><pub>Cornell University Library, arXiv.org</pub><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext |
| identifier | EISSN: 2331-8422 |
| ispartof | arXiv.org, 2023-05 |
| issn | 2331-8422 |
| language | eng |
| recordid | cdi_proquest_journals_2812870325 |
| source | Free E- Journals |
| subjects | Actuators Adaptive control Algorithms Biomedical materials Control algorithms Control theory Fingers Finite element method In vivo methods and tests Pneumatics Robot arms Sampling methods Sensors Source code Tactile sensors (robotics) |
| title | Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-27T04%3A15%3A08IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=document&rft.atitle=Visuotactile%20Sensor%20Enabled%20Pneumatic%20Device%20Towards%20Compliant%20Oropharyngeal%20Swab%20Sampling&rft.jtitle=arXiv.org&rft.au=Li,%20Shoujie&rft.date=2023-05-11&rft.eissn=2331-8422&rft_id=info:doi/&rft_dat=%3Cproquest%3E2812870325%3C/proquest%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2812870325&rft_id=info:pmid/&rfr_iscdi=true |