20.500.12556/RUL-145172 Collaborative robot precision task in medical microbiology laboratory 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). kinesthetic teaching learning from demonstration mass spectrometry sub-millimetre accuracy MALDI colony picking kinestetično poučevanje učenje iz demonstracije masna spektrometrija true false true Angleški jezik Slovenski jezik Članek v reviji 2023-04-12 11:04:41 2023-04-12 11:04:47 2023-04-13 03:31:25 0000-00-00 00:00:00 2022 0 0 10 str. iss. 8, art. 2862 Vol. 22 2022 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 579.6 1424-8220 10.3390/s22082862 105011971 RAZ_Baumkircher_Aljaz_2022.pdf RAZ_Baumkircher_Aljaz_2022.pdf 1 F099ECAE35406EC9B285095003D8A596 f5327831288f04a5606f7adf48ab77bf2e9533e51f0d1c2b9250021975407b10 ef00b142-d910-11ed-a314-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=167864 https://www.mdpi.com/1424-8220/22/8/2862 0 1da68783-d911-11ed-a314-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=167865 Fakulteta za elektrotehniko Medicinska fakulteta 0 0 0