The outbreak of novel coronavirus pneumonia (COVID-19) has caused mortality and morbidity worldwide. Oropharyngeal-swab (OP-swab) sampling is widely used for the diagnosis of COVID-19 in the world. To avoid the clinical staff from being affected by the virus, we developed a 9-degree-of-freedom (DOF) rigid-flexible coupling (RFC) robot to assist the COVID-19 OP-swab sampling. This robot is composed of a visual system, UR5 robot arm, micro-pneumatic actuator and force-sensing system. The robot is expected to reduce risk and free up the clinical staff from the long-term repetitive sampling work. Compared with a rigid sampling robot, the developed force-sensing RFC robot can facilitate OP-swab sampling procedures in a safer and softer way. In addition, a varying-parameter zeroing neural network-based optimization method is also proposed for motion planning of the 9-DOF redundant manipulator. The developed robot system is validated by OP-swab sampling on both oral cavity phantoms and volunteers.

In this paper, we review the state of the art in hyper-redundant manipulators for applications in confined space such as on-orbit services. With their multiple degrees of freedom (DOF) and slender links, hyper-redundant manipulators can offer superior dexterity and excellent operability. They can traverse freely, manipulate objects flexibly, and conform to curvilinear paths accurately in confined spaces. The by-design separation of the mechanical and electrical parts in these manipulators also offers inherent structural compliance and miniaturization. Due to the elastic characteristics of driving cables, hyper-redundant manipulators have both stiffness and flexibility. In this paper, the overviews of the current state of the art in this field are provided from the perspectives of both typical applications and key technologies. We detailed the relevant studies on the configuration, obstacle avoidance, path planning, and control technologies for hyper-redundant manipulators and highlight the use of these studies in the development of practical applications. Furthermore, we propose several aspects that need to be further studied, namely efficient inverse kinematics solution, strong coupled dynamics modeling, variable stiffness control, and multi-objective trajectory optimization. Breakthroughs in these areas will provide valuable solutions for complex path planning and control of hyper-redundant manipulators.

In order to realize the flexible capture of noncooperative targets, a variable-stiffness planning method considering both the overall configuration and cable tension for a hyper-redundant manipulator is proposed in this article. First, combining its kinematics and statics, an analytical stiffness model of the hyper-redundant manipulator is developed to evaluate its stiffness. The overall configuration and cable tension of the hyper-redundant manipulator are both identified as main factors that affect the stiffness. Then, a concept of configuration-stiffness mesh and tension-stiffness mesh is proposed to characterize the stiffness trend which can be optimized by active control points. On one hand, the gradient projection method is used to change the overall configuration of the hyper-redundant manipulator to optimize its stiffness. On the other hand, the cascade proportional integral differential control law is used to change the cable tension of the hyper-redundant manipulator to optimize its stiffness. Finally, simulations and experiments are carried out to validate the analytical stiffness model and variable-stiffness planning method considering both the overall configuration and cable tension for hyper-redundant manipulators.

Superior dexterity and extreme flexibility are typical advantages for concentric cable-driven manipulators working in confined spaces. However, its inverse kinematics and configuration planning are very complicated. In this article, we propose a spatial biarc method for the above problem. The distinguishing feature of this method is that input parameters are two positions and two direction vectors in three-dimensional (3-D) space, and the output is a reasonable spatial biarc for controlling a concentric cable-driven manipulator in 3-D space. This method has the following three advantages. First, the positions and direction vectors of the base and inner distal tip are considered simultaneously. In addition, the length and ratio of the overlapped section and separated section can be adjusted by changing the length of the direction vectors. Furthermore, by judging the angular value of the direction vectors, one can predetermine whether the spatial configuration of the entire arm is C- or S-shaped. The proposed method realizes the parameterization of a concentric cable-driven manipulator, which makes it convenient to intuitively control the manipulator to achieve interference-free motion trajectory planning in confined spaces. Finally, trajectory tracking inspections are simulated and experimentally executed. It can be seen from results that the proposed spatial biarc method can provide reasonable solutions for concentric cable-driven manipulators. The method is especially favorable in terms of 3-D-pose-determination problem and trajectory-planning problem. It can also be applied to other manipulators with similar configurations. Without loss of generality, when the given points and direction vectors are coplanar, the proposed spatial biarc method can be transformed to a planar biarc method.

Summary: Due to a large number of redundant degrees of freedom (DOFs), the hyper-redundant manipulator shows outstanding dexterity and adaptability in avoiding the obstacles in confined space. In this paper, a hybrid obstacle-avoidance method of spatial hyper-redundant manipulators is proposed, with both efficiency and accuracy considered. The space around an obstacle is classified into safe, warning, and dangerous zones. A two-level protection strategy is then addressed to handle the obstacle-avoidance problem from qualitative (i.e., pseudo-distance based on super-quadric function) and quantitative (i.e., Euclidean distance based on practical geometry function) perspectives, respectively. The only condition for switching between the two-level protections is the value of pseudo-distance. Then, a modified modal method, which is a trajectory planning method, is presented to plan the collision-free trajectory of the manipulator by maximizing the minimum pseudo-distance or Euclidean distance in different zones. Some parameters, including the arm-angle parameters and the equivalent link length parameters, are defined to represent the manipulator configuration. They are adjusted to avoid the obstacle, singularity, and joint limit. The simulations of 12-DOF manipulator and an experiment of 18-DOF manipulator verify the proposed methods.