Background
Manual spiking of infusion bag requires high force while the handling and coumpounding of chemotherapy drugs poses a harzard to the pharmacists. To further reduce pharmacist exposure and and over-loading, it is necessary to automate the spiking and drug dispensing procedures. Current rigid dexterous hands are generally unable to handle soft infusion bags， incapable to apply high force required for spiking of infusion bag stopper
Research Objectives
This project plans to use an electroadhesive- underactuated gripper to assist in grasping the infusion bag and to develop a spiking mechanism for puncturing at the port of the infusion bag.
Methods
Under-actuated grippers with electro-adhesive skins and sensors
Innovation
Electroadhesive grippers with strength to hold and flip, while adapting to various- shape objects, such as a box, an egg, and deformable infusion bag
Expected Outcomes
Fast pick and place of infusion bag, and automated spiking process. Reduce the load and health riskt to chemocompounding pharmist