cs.ROMar 10, 2026

Design of a Robot-Assisted Chemical Dialysis System

Authors: Diane Jung, Caleb Escobedo, Noah Liska, Maitrey Gramopadhye, Daniel Szafir, Alessandro Roncone, Carson Bruns

Organizations: University of Colorado at Boulder, Boulder, CO, USA · University of North Carolina at Chapel Hill, Chapel Hill, NC, USA

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Abstract

Scientists perform diverse manual procedures that are tedious and laborious. Such procedures are considered a bottleneck for modern experimental science, as they consume time and increase burdens in fields including material science and medicine. We employ a user-centered approach to designing a robot-assisted system for dialysis, a common multi-day purification method used in polymer and protein synthesis. Through two usability studies, we obtain participant feedback and revise design requirements to develop the final system that satisfies scientists' needs and has the potential for applications in other experimental workflows. We anticipate that integration of this system into real synthesis procedures in a chemical wet lab will decrease workload on scientists during long experimental procedures and provide an effective approach to designing more systems that have the potential to accelerate scientific discovery and liberate scientists from tedious labor.

Figures & tables

Figure 1. Photo of the (A) experimental setup with the Franka Research 3 (FR3), six 4 L Nalgene containers filled with water, each placed on a stir plate. (B) Preliminary and (C) modified dialysis membrane holder prototypes. A three panel image showing the experimental setup and two version of the dialysis membrane holder.
Figure 2. Graphical user interface of the robot-assisted dialysis system with key improvements emphasized in white boxes. Images of the graphical user interface.
Participant Comments (number of users)Solutions Implemented in the Modified System
Multiple people conduct dialysis simultaneously in the lab (4).Add “parallel” (simultaneous) and “series” (sequential) dialysis.
Uncertainty about saved container locations (2).GUI will show saved container locations and drive mode.
Request to see transfer progress (2). 
Confusion on pressing two buttons to execute (2).One gamepad button will execute transfers.
The robot moves too fast during gamepad control (2).All movements will be slower.
Request for container lids (1).[Addressed in final system (Table. 2 )]
Table 1. Summary of the first user feedback sessions.
Participant Comments (number of users)Solutions Implemented in the Final System
Request for more information about transfer progress (3).GUI will show transfer times, robot state, countdown timer.
Request for container lids (1). Confusion on end effector positioning (2).A cap will be added to the membrane holder.
Concerns about longer membranes making physical contact with the container (2).Pick-up height will be 2.2x the container height to accommodate all membrane lengths.
Table 2. Summary of the second user feedback sessions.
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