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The COVID-19 pandemic has imposed serious challenges in multiple perspectivesof human life. To diagnose COVID-19, oropharyngeal swab (OP SWAB) sampling isgenerally applied for viral nucleic acid (VNA) specimen collection. However,manual sampling exposes medical staff to a high risk of infection. Roboticsampling is promising to mitigate this risk to the minimum level, buttraditional robot suffers from safety, cost, and control complexity issues forwide-scale deployment. In this work, we present soft robotic technology ispromising to achieve robotic OP swab sampling with excellent swabmanipulability in a confined oral space and works as dexterous as existingmanual approach. This is enabled by a novel Tstone soft (TSS) hand, consistingof a soft wrist and a soft gripper, designed from human sampling observationand bio-inspiration. TSS hand is in a compact size, exerts larger workspace,and achieves comparable dexterity compared to human hand. The soft wrist iscapable of agile omnidirectional bending with adjustable stiffness. Theterminal soft gripper is effective for disposable swab pinch and replacement.The OP sampling force is easy to be maintained in a safe and comfortable range(throat sampling comfortable region) under a hybrid motion and stiffnessvirtual fixture-based controller. A dedicated 3 DOFs RCM platform is used forTSS hand global positioning. Design, modeling, and control of the TSS hand arediscussed in detail with dedicated experimental validations. A sampling testbased on human tele-operation is processed on the oral cavity model withexcellent success rate. The proposed TOOS robot demonstrates a highly promisingsolution for tele-operated, safe, cost-effective, and quick deployable COVID-19OP swab sampling.

Tele-Operated Oropharyngeal Swab (TOOS) RobotEnabled by TSS Soft Hand for Safe and EffectiveCOVID-19 OP Sampling