An Open-Source Modular Robotic System for Telepresence and Remote Disinfection

TL;DR

This paper introduces an open-source, modular robotic platform designed for telepresence and UVC-based disinfection, combining adaptable autonomy and consumer-grade components to enhance pandemic safety measures.

Contribution

It presents a novel hardware and software design for a versatile robot supporting remote interaction and environmental disinfection, emphasizing open-source and modularity.

Findings

Effective UVC disinfection demonstrated against pathogens.

Supports telepresence with adaptable autonomous navigation.

Open-source design facilitates customization and deployment.

Abstract

In a pandemic contact between humans needs to be avoided wherever possible. Robots can take over an increasing number of tasks to protect people from being exposed to others. One such task is the disinfection of environments in which infection spread is particularly likely or bears increased risks. It has been shown that UVC light is effective in neutralizing a variety of pathogens, among others the virus causing COVID-19, SARS-CoV-2. Another function which can reduce the need for physical proximity between humans is interaction via telepresence, i.e., the remote embodiment of a person controlling the robot. This work presents a modular mobile robot for telepresence and disinfection with UVC lamps. Both operation modes are supported by adaptable autonomy navigation features for facilitating efficient task execution. The platform's primary contributions are its hardware and software design, which combine consumer-grade components and 3D-printed mounting with open-source software frameworks.