Table 3.

Performance of the SR-NOCS screening procedure.

Variable	Value	Comment
Programmed test duration [s]	41.9	Duration of an ideal test excluding waiting times. It is composed of robot motions as well as swabs and corresponds to all periods (a) and (c) in Fig. 5
Test conduction time (mean | SD | min | max) [s]	108 | 39 | 60 | 242	Recorded by the robot from the moment the robot motion started the test until it was ready for sample handover, including interruptions and restarts due to explanations, clarifications, errors or repetitions, for all 31 tests
The number of tests with repeated steps	4	When a swabbing procedure (left/right nostril or mouth) had to be restarted once or several times due to either an incorrect start by the operator or an unexpected reaction by the test subject (e.g. moving away from the station). Corresponds to test subjects n${}^{\circ }$1 (3 swab repetitions), n${}^{\circ }$4 (2 swab repetitions), n${}^{\circ }$13 (2 swab repetitions), and n${}^{\circ }$16 (1 swab repetition)
Test conduction time for tests without repetitions (mean | SD | min | max) [s]	99 | 28 | 60 | 177	Includes waiting periods and repetitions, for all 27 tests without repeated swabs
Test conduction time for tests with repetitions (mean | SD | min | max) [s]	171 | 55 | 109 | 242	Includes waiting periods and repetitions, for all 4 tests with repeated swabs
Shortest time between tests [min]	4	The minimum time between two consecutive test starts (minute accuracy) for all 31 tests. It includes all interactions with the test subject (see “Methods”). A 4-min difference in test starts took place once between test n${}^{\circ }$4 and test n${}^{\circ }$5 while there were 8 occurences of 5-min differences between test starts
Maximum relative contact forces* (mean | SD | min | max) [N]	5.1 | 1.3 | 2.6 | 7.2	Maximum magnitude of the relative force* along a whole test, for all 31 tests

See “Methods”.