Mechatronic Systems Design of ROHNI-1: Hybrid Cyber-Human Medical Robot for COVID-19 Health Surveillance at Wholesale-Supermarket Entrances

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Abstract –– The critical situation of COVID-19 widespread
in Perú from the beginning of year 2020, has been maximized by
the avoidance of social distancing reflected in crowded public
places where most people go without any personal protective
equipment (PPEs) leading to higher risk of virus transmission.
Therefore, an innovative research has been conducted in 2020
under the supervision of the Mechatronic Engineering
Laboratory at Ricardo Palma University and Bioastronautics &
Space Mechatronics Research Group, resulting in the proposed
project named “ROHNI-1” medical robot, as Social Humanoid
Machine, that is going to be located at the entrance of a
wholesale-supermarket. It is composed by 3 wheels in the
chassis-base and 2 anthropomorphic arms of 4 DOF each. In
order to perform an efficient human-machine interaction, it can
develop 3 functions such as Detection of mask, Disinfection of
hands and Monitoring of vital signs. This study presents a
mechatronics conceptual design using the software SolidWorks
2020 for 3D mechanical systems development, Proteus 8 for
electrical and electronics circuit technical schematics, and also,
Matlab 2020a for kinematic motion testing of the robotic arms.
In conclusion, favourable simulation results were achieved; the
robot manufacturing is expected to be ready by 2021, and due to
frugal-innovation engineering analysis, it is planned to be
donated to Latin American countries working with
supermarket-chains.
Keywords –– COVID-19, ROHNI-1, Medical Robot,
Social Humanoid Machine, Detection, Disinfection, Monitoring,
Wholesale-Supermarket
I. INTRODUCTION
The COVID-19 pandemic caused by the SARS-CoV-2
virus, has presented the first cases located in Wuhan, China
during December 2019, presents an exponential change in
human life daily activities creating global health issues [1-5],
therefore is important to take into account 2 main actions:
“environmental, social, health and safety measures” and also,
the use of “medical robots”, in order to reduce the risk of virus
transmission [6-8].
Governments have implemented prevention measures in
public places to reduce the spread of the virus. One of them
is the wholesale-supermarkets where hundreds of people go
daily [9] and therefore, a key point to implement health
control alternatives includes adequate hand hygiene, use of
masks and constant disinfection of the establishment [10], as
well as the early detection of suspects patients prior to
entrance, through the control of vital signs and other
physiological parameters [11].
Fig 1. ROHNI-1 Robot
Robotic systems and advanced mechatronics are the best
option to face the challenges of the pandemic, offering
automated manual operations that are labour-intensive and
providing highly reproducible, fast and precise maneuvers.
They prevent the transmission of the virus minimizing
person-to-person contact [12], and can be teleoperated in
places where there is a high volume of newly reported
cases[13]. Also, they can be designed with humanoid
characteristics with the purpose of being accepted in society
due to the similarity with people [14], and have the ability to
replicate human actions [15], capturing the attention of
people who walk near it [16], in addition, they can
demonstrate trustworthy behavior and offer emotional
security [17, 18], improving the human-robot interaction.
Therefore, in order to fight against COVID-19, the field
of Biomedical Engineering [19] started to develop innovative
technologies such as medical equipment and also, medical
Robotics [20], which have many applications, such as robotic
surgery [21-24], for rehabilitation [25-29], and social
assistance, that is a topic where this research is developed.
These robots are teleoperated, composed by robotic arm
manipulator to develop complex and risk tasks, and have been
placed at entrances of wholesale-supermarkets, which are
crowded public areas in order to measure the body
Mechatronic Systems Design of ROHNI-1: Hybrid Cyber-Human Medical Robot
for COVID-19 Health Surveillance at Wholesale-Supermarket Entrances
Richard M. Ñope-Giraldo1, Luis A. Illapuma-Ccallo1, José Cornejo1,2, Paul Palacios2,
José Luis Napán2, Francisco Cruz1, Ricardo Palomares1, Jorge A. Cornejo-Aguilar3, Mariela Vargas4
1Professional School of Mechatronics Engineering, Universidad Ricardo Palma, Lima, Peru
2Bioastronautics & Space Mechatronics Research Group, Lima, Peru
3Faculty of Human Medicine, Universidad Ricardo Palma, Lima, Peru
4Faculty of Health Sciences, Universidad de León, León, Spain
Email: jose.cornejo@ieee.org; https://orcid.org/0000-0003-4096-9337
FRONT
VIEW
BACK
VIEW
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
2021 Global Medical Engineering Physics Exchanges/ Pan American Health Care Exchanges (GMEPE/PAHCE) | 978-1-7281-7054-1/20/$31.00 ©2021 IEEE | DOI: 10.1109/GMEPE/PAHCE50215.2021.9434874
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temperature [30]. Besides, they are programmed by facial
recognition software using in mask detection algorithms with
deep learning methods to track or alert about symptomatic
people, which are essential to prevent and control
COVID-19’s transmissibility [31,32]. In addition, they are
provided with disinfectant liquids, contained in a tank inside
the robot, to apply in human hands by bottle dispenser [33].
Due to this context, ROHNI-1 is proposed as Medical
Robot (Fig. 1), classified as a Social Humanoid Machine,
composed by 3 wheels in the chassis-base, and 2
anthropomorphic arms of 4 DOF each [34]. The right arm
contains a Dispenser Valve as end-effector, that sprays a
70%(v/v) alcohol-based gel sanitizer to the person’s hands at
wholesale-supermarkets entrances [35], for this, a tank with
3L of this liquid will be inside the robot. The left arm, is
holding a Pulse Oximeter [36]. Besides, in the forehead are 2
holes: 1 for a light infrared temperature sensor; and 1 for a
camera, which through an artificial intelligence algorithm, it
will detect the use of a mask to prevent that people who do
not carry it correctly will not enter to the place, as shown in
Fig. 2 [37]. Finally, the use of this robot is going to improve
hand hygiene and lessen the risk of contagious, at the same
time, develops an effective human-robot interaction
methodology (Fig. 3) [38-45].
Fig. 2. Structure of RHONI-1 Robot
Fig. 3. Human-Robot Interaction
II. MATERIALS AND METHODS
A. Mechanical Design
ROHNI-1 hybrid robot (height=1133mm), has people-
friendly humanoid appearance. It consists of 3 main
substructures: the head, arms and mobile system of the base.
These are internally connected by an ASTM A36 steel metal
frame, this structure serves as a fixed for the arm movement.
The body and head cases are made of fiberglass, as this
material is corrosion-resistant, lightweight and has high
chemical resistance. Parts can be manufactured individually
using the molding technique, thus facilitating the final
assembly of the external structure [46]. The design was done
using SolidWorks 2020.
Fig.4 shows the front and section view of the head, made
of fiberglass material of measurements: height 200mm, width
190mm and thickness 3mm. The shape of the head and face
features are relatively similar to a human being. At the top
center are two holes; one to place the ArduCam PTZ camera
lens and one for the MLX90614 temperature sensor. Fig.5
shows the inside of the head where a structure supports the
weight of electronic elements such as: The Raspberry Pi 3B+
computer and two vertically mounted speakers in series [47].
Fig. 4. Robot’s Head – External View
Fig. 5. Robot’s Head – Internal View
The structure of the 2 anthropomorphic arms is similar. Both
have 4 rotational joints, 4 length dimensions from the base of
Link 1 to the coordinate origin of the end-effector: L1=5.89
cm, L2=15.5cm, L3=20.79cm and End-Effector tool=7.9cm
(Fig. 15). The servo mechanisms are distributed (1 on the
base-Servo motor 1, 2 on the shoulder-Servo motors 2 & 3 in
the same axis, 1 on the elbow-Servo motor 4 and 1 for the
DETECTION
DISINFECTION
MONITORING
HEALTH
SURVEILLANCE
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final effector-Servo motor 5), as shown in Fig.6. For power
transmission, 2 spur gears system (module = 2.5, number of
teeth = 24, pressure angle = 20 °, and face width = 20mm) are
used, one with internal-teeth coupled to servomotor shaft, and
another with external-teeth coupled to the links. The
dispenser valve is also observed at the end of the right arm
and the internal view of the system. The material for the arms
is fiberglass with a thickness of 3mm, which is suitable for its
optimal mechanical characteristics. The total mass of the arm
is 1307 grams and the length from the base of the shoulder to
the end of 500.8 mm [48].
Fig. 6. Mechanical System of Right Robotic Arm
Fig. 7. Dispenser End-Effector of Right Arm
Fig. 8. Mechanical System of Left Robotic Arm
The gears are made of nylon for their good toughness,
damping capacity and ease in their manufacture by milling.
Fig.7 shows the end-effector which is driven by servo motor
5, the dispenser valve has an inlet for alcohol gel using a
flexible hose and an outlet to disinfect the hand of customers.
A pulse oximeter is attached to the end-effector on the robot's
left arm. Throughout the mechanism 5 servo motors
numbered from 6 to 10 are used as indicated in Fig. 8, on the
left side its internal structure is shown.
In the internal structure of the robot, a small tank contains
alcohol gel (Capacity=3L). There is also a slider-crank
mechanism that actuates the dispenser using a servo motor
that allows the fluid to be driven from the tank to the end-
effector (dispenser valve) through a flexible hose that exits
through a hole in the back of the robot (length=1500mm,
thickness=2mm, outer diameter=8mm). The alcohol gel is
going through a hose from dispenser bottle to gel input orifice
in the Dispenser Valve. The dispenser actuator mechanism is
shown with the other components in Fig. 9 and the electronic
diagram in Fig. 14 [49].
Fig. 9. System of Dispenser Mechanism
Fig. 10 shows the chassis-base design (diameter=400mm)
made of metal sheet materials with grooves, which has 3
wheels attached (diameter=40mm): 2 Fixed and 1 Steerable.
In the inside, are placed the batteries, drivers and the control
circuit board (Fig. 13) at the bottom. Finally, there are 4
ultrasonic sensors to avoid collisions [50].
Fig. 10. Chassis-base
Servo Motor 2
Servo Motor 3
Servo Motor 1
Servo Motor 4
Servo Motor 5
Spur Gear System
Right Roboc Arm
(Dispenser Valve)
Gel
Input
Servo
Motor 5 Gel
Output
Dispenser
Valve
Le Robo c Arm
(Pulse Oximeter)
Servo Motor 6
Servo Motor 7
Servo Motor 8
Servo Motor 9
Servo Motor 10
Spur Gear System
RIGHT ARM
LEFT ARM
INTERNAL
VIEW
INTERNAL
VIEW
EXTERNAL
VIEW
EXTERNAL
VIEW
RIGHT ARM
CHASSIS-BASE
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b) Electrical and Electronics Design
The electronic scheme was developed considering the
necessary components described in Fig. 11 for the robot to
comply with the proposed actions. It has 3 levels of
controllers: main, arms and lower [51].
As the main controller a Raspberry Pi model 3B+ was
chosen because it has ports for audio and video, as well as the
capability to develop artificial vision algorithms, which
allows: a) To detect the mask usage with an ArduCam camera
4K 13MP PTZ. b) To measure temperature with I2C-linked
MLX90614 sensor at 5cm distance from the user’s forehead,
c) Interact with customers using two speakers connected by a
PAM8620 amplifier, developing 2 tasks: c.1) Speaker 1 at
50% of volume: Give general instructions to the user about
disinfect, measure their temperature and the use of mask. 70%
c.2) Speaker 2 at 100% of volume: Give instructions every 10
minutes such as: "order in line", "disinfect properly" and
produce a low battery alarm signal (Fig. 5). Furthermore, a
microcontroller PIC18f4550 will also be connected using the
protocol of I2C communication; a slave controller that
interacts with the different sensors and actuators. Finally, it
will be linked to the arm controller, which consists of an
interface PWM driver-I2C to control the joints [52].
Fig. 11. General Electronic scheme
The arm controller is a PCA9685 module; a driver that
moves both upper extremities of the robot, for which each of
the 10 Dynamixel XC430-W240-T servo motors is
controlled; on the right numbered from 1 to 5 and on the left
from 6 to 10, using PWM signals and a spur gear system, thus
increasing the precision and efficiency of the movements.
For its part, the lower controller PIC18F4550 was selected
for its low consumption, energy-saving, and having the main
communication protocols, it will connect through the I2C
protocol to HC-05 ultrasonic sensors to detect people from
the right, left, front, and rear. A pair of geared motors selected
according to the mass of the robot which are coupled to a pair
of wheels for mobility in future work. In addition to this, on
the right side is the terminal of a thin hose corresponding to
the dispenser that is driven by the servomotor called the
dispenser actuator. Table I details the characteristics of the
ROHNI-1 electrical and electronic components.
TABLE I
ELECTRICAL AND ELECTRONICS CHARACTERISTICS
Quantity
Component
Amps/Volts
Technical
Specification
Sensors
4
Ultrasonic distance
sensor HC-
SR04
1.5
m
A,
5V
DC
Measuring Range:
2-400cm
Frequency: 40Khz
1
Temperature sensor
MLX90614
1
.5m
A,
5V DC
I2C, resolution: 0.02ºC,
Distance between
object and sensor: 5cm
1
ArduCam PTZ
Camera
3.3V
DC
13MP, 4K
2
SKU : FIT0186
Quadrature encoder
motor
5V DC
Resolution:64 Counts
Per Revolution (CPR)
Actuators
2
GB37Y3530-12V-
251R Gearbox with
encoder motor
0.35mA,
12V DC
251rpm, 1.76Nm,
Gearbox ratio:
43.
8: 1
1
PCA9685 PWM
Driver-I2C Module
5V DC
Resolution: 12 bit, 16
channels
11
Dynamixel XC430-
W240-T s
ervo
motor
600mA,
12V DC
Resolution [deg/pulse]:
0.0879, 1.9Nm
1
PAM8620 Audio
Amplifier Board
12V DC
15W
2
Speaker
-
80Ohm
Others
1
Raspberry Pi 3B+
300mA,
5V DC
64-bit, 1.4GHz
1
PIC 18F4550
50mA,
5V DC
8-bit, 35I/O, I2C
For the power supply, it was considered to use two
batteries, the first of 5V-10000mAh with estimated time of
battery life of 10 hours for the control and sensors part and
another 12V-70000mAh battery with about 9 hours for the
power system of the servo motors of both robot arms and one
for the dispensing mechanism, and two DC motors with
quadrature encoders for robot mobility, the characteristics are
shown in Table II [53].
TABLE II
POWER SUPPLY ELECTRICAL CHARACTERISTICS
Power supply
Characteristics
Autonomy
Technical
Specification
OEM DK-PB10
bank charger
5V, 10000m
Ah
10
hours
0.205Kg,
lead-acid
AGM Tensite
battery
12V,
70000m
Ah
9
hours
19Kg,
lead-acid
The design developed in Proteus 8 (Fig. 12) shows the
interconnections between Raspberry Pi and the temperature
sensor through the SCL and SDA lines corresponding to the
I2C bus, two speakers amplified with the PAM8620 module
connected to the audio jack of the mini-CPU, and the
ArduCam PTZ camera attached by the CSI interface. On the
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other hand, pins 3 and 5 are connected to servo control
module, to the PIC microcontroller and allow information to
be transmitted between them.
Fig. 12. Main Controller – Circuit Diagram
The connection of servo motors which belongs to the
robotics arms is through the PCA9685 module as shown
in Fig. 13 [54].
Fig. 13. Arms Controller - Circuit Diagram
Finally, as seen in Fig. 14 there is the lower controller, a
PIC18F4550 to which 4 ultrasound sensors HC-SR04 are
connected through I2C, likewise, the L293 driver connects to
the 2 DC motors with their respective quadrature encoders.
Fig. 14. Lower Controller - Circuit Diagram
III. KINEMATIC ANALYSIS OF ROBOTIC ARM
The 2 robotic arms of RHONI-1 have the same
configuration (anthropomorphic) and dimensions, each is
composed of 3 links and 4 joints, as in Fig. 15 [55, 56].
Fig. 15. Links and Joints of the Robotic Arm
In Fig. 16, the 4 Axis referred to each Coordinates’ Origin
of the robotic arm, describe the angles of rotation with the
symbol “q”, which determine the 4 DOF, with the purpose to
disinfect hands or SpO2 measure [57-59].
Fig. 16. Degrees of Freedom of the Robotic Arm
Then, software Matlab R2020a [60] was used for motion
simulation of the robotic arm in order to develop Forward
Kinematic equations, using the code: “L(X)= Link([θ d a α]),
where X is the Link number. As a result, in Table III is shown
the parameters.
TABLE III
DENAVIT-HARTENBERG ANALYSIS
Joints
θ
(Degree)
d
(cm)
a
(cm)
α
(Degree)
1
q1
5.89
0
90
2
q2
0
15.5
90
3
q3
0
20.79
-90
4
q4
0
7.9
0
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Fig. 17 shows the axis X, Y, Z location of the robot’s
end-effector according to the rotation angle’s alignment,
using the code: “Robot=SerialLink([L(1) L(2) L(3) L(4))”,
and then, “teach(Robot)”. So, the values q1, q2, q3, q4 (DOF)
can be manipulated and develop the simulation of each
robotic arm (link-joint) [61-64].
Fig. 17. Kinematic Simulation of the Robotic Arm in Matlab
Furthermore, the interaction between the User/Customer
and the hybrid robot for disinfection is by Tele-operation,
which joints the Master (Operator) and the Slave (Robot) [65-
67]. In the Master Station, the operator activates the
Raspberry Pi and thus allows communication with the PICs,
then in the Slave Station, these microcontrollers transmit
information to the actuators, and the robotic arms and
wheels begin to work in order to perform the tasks, as shown
in Fig. 18 [68-70].
Fig. 18. Tele-operation Control Design of Human-Robot Interaction
IV. CONCLUSION AND FURTHER WORK
Mechatronic Systems Design of ROHNI-1 fulfills the 3
objectives of health surveillance at the entrance of wholesale-
supermarkets: hand disinfection with 70% (v/v) alcohol-
based gel, detection of mask use with an ArduCam PTZ
camera, measurement of SpO2 with a pulse oximeter, as well
as the measurement of forehead temperature with an infrared
sensor to detect fever. Thus, replacing the person in charge of
the same tasks [71-73].
Human physical features were attributed to the robot in
order to interact with people, it has a height of 1133mm, a
head similar to a person, 2 anthropomorphic arms of 4 DOF
each, and a chassis-base with 2 fixed wheels and 1 Steerable
wheel. In addition, 3 levels of mechatronic control were
considered: main controller (Raspberry Pi 3B+), arms
controller (PCA9685 module) and lower controller
(PIC18F4550) connected through the I2C communication
protocol, all of them powered by a 5V-10000mAh battery and
another 12V-70000mAh [74, 75].
It was possible to complete the mechanical, electrical /
electronic design and kinematic analysis simulation of robotic
arms, therefore, the robot is ready to manufacture. The
approximate cost was calculated: a) mechanical structure and
wheels USD $ 651, b) electronics, control and power devices:
USD $ 1,487, considering the total cost of USD$ 2,138. The
mechatronic implementation and development of the robot
will be ready by October 2021, which will be donated to
supermarket-chains in Latin American countries,
providing an alternative to reduce the risk transmission
of COVID-19 [76].
ACKNOWLEDGMENT
Advanced Robotics Research Program of Professional
School of Mechatronics Engineering at Universidad Ricardo
Palma, and The Bioastronautics and Space Mechatronics
Research Group (https://orcid.org/0000-0002-7173-3960) for
supporting Latin American exponential innovation
entrepreneurs and technologies.
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