Author/Editor		Baumkircher, Aljaž; Seme, Katja; Munih, Marko; Mihelj, Matjaž
Title		Collaborative robot precision task in medical microbiology laboratory
Type		članek
Vol. and No.		Letnik 22, št. 8
Publication year		2022
Volume		str. 1-10
ISSN		1424-8220 - Sensors (Basel, Switzerland)
Language		eng
Abstract		This study focuses on the feasibility of collaborative robot implementation in a medical microbiology laboratory by demonstrating fine tasks using kinesthetic teaching. Fine tasks require sub-millimetre positioning accuracy. Bacterial colony picking and identification was used as a case study. Colonies were picked from Petri dishes and identified using matrix-assisted laser desorption/ionization (MALDI) time-of-flight (TOF) mass spectrometry. We picked and identified 56 colonies (36 colonies of Gram-negative Acinetobacter baumannii and 20 colonies of Gram-positive Staphylococcus epidermidis). The overall identification error rate was around 11%, although it was significantly lower for Gram-positive bacteria (5%) than Gram-negative bacteria (13.9%). Based on the identification scores, it was concluded that the system works similarly well as a manual operator. It was determined that tasks were successfully demonstrated using kinesthetic teaching and generalized using dynamic movement primitives (DMP). Further improvement of the identification error rate is possible by choosing a different deposited sample treatment method (e.g., semi-extraction, wet deposition).
Keywords		kinesthetic teaching learning from demonstration mass spectrometry kinestetično poučevanje učenje iz demonstracije masna spektrometrija