Press Release

November 5, 2020
Motion Lib, Inc.
Keio University Global Research Institute Haptics Research Center
Yokohama National University

Remote PCR Sample Collection System that Transmits Tactile Sensations
A remote-controlled system that transmits tactile sensations using RealHaptics*1 has beendeveloped by Motion Lib, Inc. (Kawasaki City, Kanagawa Prefecture; CEO: Takahiro Mizoguchi),
Keio University Global Research Institute Haptics Research Center (Kawasaki City, Kanagawa
Prefecture; Director: Toshiyuki Murakami), and Yokohama National University (Yokohama,Kanagawa Prefecture; President: Yuichi Hasebe). Using this system, PCR samples can be collectedby medical workers without coming into close contact with subjects, and basic tests have alreadybeen conducted with doctors to verify the viability of the technology. Additionally, the development
team confirmed that the system could replicate the motions of medical workers using themovement data collected.
1. Background
The recent spread of COVID-19 highlights the social problem of testing for infectious diseases.
Samples need to be taken to test for infection, but because medical workers come into close contact
with subjects when collecting samples, they too are at risk of getting infected. Personal protectiveequipment (PPE) must also be worn to prevent the transmission of diseases, which can lead bothto supply issues and an additional burden on doctors and nurses.
By adopting RealHaptics technology, samples could be collected remotely instead, which would
greatly improve the safety of frontline medical workers in the fight against COVID-19. Moreover,through the use of Motion Lib’s “AbcCore”*2 IC chip, production costs can be reduced as it enables
the transmission of tactile sensations remotely without expensive sensors. The relatively low costof the technology should also assist with its uptake in developing regions around the world.
In the 19th century, Alexander Bell successfully transmitted sound with the invention of thetelephone, while in the 20th century, the transmission of images was realized through television.
In the 21st century, it is now possible to transmit tactile sensations, while the technology is stillin its infancy. RealHaptics technology, which allows people to touch each other in quarantine, will
be increasingly important in the face of threat of infectious diseases.
2．Outline of the remote PCR sample collection system
With this newly developed system, medical workers can collect test samples from a subject who
is in a physically separated location using a remotely controlled slave robot. It significantly
reduces the risk of infection to doctors and nurses.
This remote PCR sample collection system transmits tactile sensations using the functions of"RealHaptics" enabled thanks to the introduction of AbcCore, a general-purpose tactile sensation
IC chip developed by Motion Lib, Inc. This chip permits a slave robot to replicate the movements
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of the medical worker operating the master device; the tactile sensations felt by the slave robot
are fed back to the operator, allowing for more gentle, responsive movements that lessen the riskof harming the subject. A basic verification experiment using a human skeleton model also
confirmed that medical workers operating the remote-controlled system could still intuitively
perform the procedures necessary to collect samples.
Additionally, the system is able to track the movements of the medical workers operating themaster device, and by using this data, the system can itself perform the same tasks automatically.
The development team verified expectations for the automation of sample collection by combining
the automatic operations of the system with the guidance provided by medical workers in a
separate room based on audiovisual information from cameras, speakers, etc.

View a demonstration video: https://youtu.be/fmu9wXGMW4g
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3. Advantages of the remote PCR sample collection system
・ RealHaptics allows doctors and nurses to collect samples remotely with the physicalsensations of performing the necessary procedures, making it safer for not only medical
workers but also test subjects. Furthermore, this greatly reduces the demand for PPE, which
can be scarce in times of high demand.
・ The system can record and store the movement data of the medical workers operating it,
opening up the potential for automating the sample collection process in the future.
・ Since there are no force sensors, the system can be produced cheaply and has the potential
tobe deployed in developing countries and regions.

Glossary*1 RealHaptics
RealHaptics is a tactile sensation technology invented by Professor Kouhei Ohnishi of Keio
University (Vice Director of the Haptics Research Center), which allows a machine or robot tofreely control the amount of force it applies. This technology realizes the visualization and analysis
of tactile sensations, remote operations, automation, and sensory reproductions, across a diverse
range of fields in the future.
*2 AbcCore
AbcCore is a general-purpose tactile sensation IC chip developed by Motion Lib, Inc., whichsimplifies the implementation of RealHaptics. It has the following advantages:
・ Allows for fine control of the amount of force to be applied: realization of real-timemeasurement and control of force amounts by modularizing RealHaptics.
・ Transmits tactile sensations: force amounts are easily digitized and transmitted to the remotelocation in both directions.
・ No force sensors: due to an original force estimation algorithm, there is no need to install force
sensors (although it is possible to integrate force sensors as required).
・ Highly versatile: force control is possible using commercially available actuators and devices.
Additionally, it is easily integrated into existing systems.
Motion Lib, Inc.
Motion Lib, Inc. is a Keio University startup whose business spans from conducting researchand development for the implementation of RealHaptics in machinery, to the manufacture andsale of AbcCore, their flagship product. AbcCore can control force amounts and transmit tactile
sensations using motors that are commercially available without specialized sensors or motors.
AbcCore has already been delivered in advance to over 60 companies, with which multiple
research projects are now underway. Some companies have even started putting AbcCore into use
for practical applications.
In addition, Motion Lib Inc. has supported customers, based on the 3 pillars of its "solution
business" for carrying out joint research, its "device business" focused on "AbcCore," and its
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"licensing business" for the provision of technology. To further accelerate the practical applicationof RealHaptics, Motion Lib, Inc. is actively seeking companies with which to conduct studies.
Website: https://www.motionlib.com/ (Japanese language only)
Keio University Global Research Institute Haptics Research Center
The Haptics Research Center is aiming to make RealHaptics technology widely and universallyavailable to consumers and companies worldwide and operates a council for RealHaptics
technology in which private companies also participate. As a research institution for RealHaptics
technology, Keio University holds a core set of related patents. Furthermore, the Haptics ResearchCenter works closely with companies to carry out joint research to explore new applications forthe technology.
Website: http://haptics-c.keio.ac.jp/ (Japanese language only)
Yokohama National University (Faculty of Engineering, Shimono Lab)
Under the vision of "the university of global excellence," Yokohama National University isaiming to become an international center for practical academic pursuits. Practice emphasizes
social contribution through the real-life application of theory. As part of this, the Shimono
Laboratory at the Faculty of Engineering is promoting research aimed at utilizing RealHaptics
technology in healthcare fields such as medical care, social welfare, and nursing care. In particular,
while researching basic technologies such as original actuation technology to improve control
performance for tactile sensation and advanced network control technology, they are also
developing prototypes of various human support systems including medical devices, rehabilitation
robots, and surgical robots.

※ Please direct any requests or inquires to the contact information provided below.
＜Inquiries about research＞
Motion Lib, Inc.
Persons in charge: Ogata (Mr.) / Fukuda (Ms.)
E-mail: contact@motionlib.com
Keio University Global Research Institute Haptics Research Center
E-mail: contact@haptics-c.keio.ac.jp
Yokohama National University Research and Academic Information Department,
Industry-University and Local Collaboration Division
E-mail: sangaku.sangaku@ynu.ac.jp＜Inquiries about press release＞
Keio University Office of Communications and Public Relations Person in charge: Miyazaki (Ms)
Tel: +81 3-5427-1541 Fax：+81 3-5441-7640
E-mail: m-pr@adst.keio.ac.jp

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