## 3 Experiments  
We conducted a series of experiments to evaluate the performance of the proposed system in the National Yang Ming Chiao Tung University (NYCU) intelligent ward, which was completed in 2020 and designed specifically for testing the intelligent medical systems developed by research teams in our university. The experiments have been approved by the IRB: NYCU-REC-111-087E. As shown in Figure 11, it includes the fever station, nursing station, and isolation ward, among others. A total number of 32 subjects, 20 males and 12 females, were invited to participate in the experiments, with their ages ranging from 20 to 25, except for 4 between 50 and 55. Among them, 21 participants had knowledge of robotics. After the experiments, they were asked to fill out a questionnaire to obtain their responses. The TMS-700 6-axis robot manipulator, manufactured by Techman Robot, Taiwan, was adopted as the robotic arm, employing the MoveIt motion planning framework for motion planning and governing. To support real-time execution, the proposed system was equipped with a computer with an Intel Core i5-6500 TE CPU (manufactured by Intel in the United States), an Nvidia GeForce GTX 1650/4 GB (manufactured by Nvidia in the United States), and the Ubuntu 16.04 operating system (developed by Canonical in the United Kingdom), along with the ROS Kinetic. The 2D lidar utilized was the UTM-30 LX-EW, manufactured by Hokuyo in Japan. The depth camera employed was the RealSense D435, manufactured by Intel in the United States. The mobile platform utilized a differential drive system, designed and assembled by ITRI in Taiwan. UVC lamps, including the TUV G15 T8 and TUV G4 T5, were manufactured by Philips in the Netherlands. Please refer to the supplementary materials link for the experimental videos. Figure 10: System diagram for the real-name system installed in the fever station. Figure 9: Graphical demonstration of \(\alpha(d_{c})\) and \(\beta(d_{c})\) relative to contact distance \(d_{c}\). The first set of experiments was intended for temperature measurement in the fever station, with 17 subjects participating. As shown in Figure 12, when the system detected that a subject was sitting still on the chair, it started to navigate the mobile robot manipulator to come closer, governed the robotic arm, which was equipped with a non-contact infrared sensor, to approach his/her forehead to measure the temperature, and then sprayed alcohol to disinfect the hands. For these actions, the safety and comfort of the subject were deemed to be the main concerns. Figure 13a shows the distance between the subject and the robotic arm during the process, and Figure 13b shows its approaching speed. The robotic arm initially operated at a standard speed of 0.3 m/s. It began decelerating after 19 s when it was 40 cm away from the subject, marking the warning region. Eventually, it came to a halt at 13 cm in front of the subject's forehead, the predetermined measurement location, by the 22 s mark. After measurement, the robot conducted disinfection at 25 s and then started to return to the base at 37 s with the normal speed. From the experimental results for the 17 subjects, the system successfully completed the task for all cases with their safety and comfort ensured. The second set of experiments was intended for medicine delivery and taking in the isolation ward, with 15 subjects participating. As shown in Figure 14, the system first navigated the mobile robot manipulator to the nursing station to take the medicine, and then toward the bedside for its delivery. After delivery, the system would keep reminding the subject to take the medicine until it confirmed that he/she had actually taken the medicine by utilizing the algorithm for medicine-taking detection in Section 2.1. Same as  
Figure 11: The NYCU intelligent ward is designed to have a hospital-like setting. Figure 12: Experiment 1: temperature measurement. that shown in Experiment 1, the robot speed was regulated according to the relative distance between the subject and the robot.