A Method for a Compliant Robot Arm to Perform a Bandaging Task on a Swaying Arm A Proposed Approach By Juncheng Li , Weiping Sun , Xieping Gu, Jing Guo , Jun Ota , Zhifeng Huang , and Yun Zhang Bandaging is a regular and indispensable nursing task in daily medical care. The task is challenging for robots because it requires simultaneous control of the bandaging trajectory and tension. The patient's involuntary swaying due to pain and other reasons may cause further complications. To solve these problems, a compliant robot arm based on the serial elastic actuator (SEA) is selected as the hardware solution for this task. In this article, a method for a force-position-decoupling control strategy is developed for achieving the full process of bandage tension control as well as bandaging trajectory adjustment and following. Experiments are conducted to evaluate the performance of the proposed design and methods, using five subjects and a collaborative robot. The results show that the proposed robot arm successfully performs the bandaging task and that the proposed methods can effectively enable the robot to estimate the movement direction and position of the injured arm. The bandage tension can be effectively maintained even when the arm is swaying. INTRODUCTION Bandaging tasks are one of the important nursing techniques in daily wound care. The quality of the bandaging is directly related to the recovery of the patient's wound. A professional bandaging technique requires the nurse to adopt the Digital Object Identifier 10.1109/MRA.2022.3228501 Date of current version: 28 December 2022 50 IEEE ROBOTICS & AUTOMATION MAGAZINE MARCH 2023 1070-9932/22©2022IEEEhttps://orcid.org/0000-0003-4998-5229 http://orcid.org/0000-0002-0832-8209 https://orcid.org/0000-0002-0053-2678 https://orcid.org/0000-0002-8085-3454 https://orcid.org/0000-0003-0632-1027 https://orcid.org/0000-0002-4738-2275