Design and Validation of a Cyber-Physical Medication Dispensing Platform Integrating Edge AI Verification, Distributed Control, and Cloud Synchronization.

Medication dispensing errors remain a significant concern in healthcare systems, particularly in elderly care and long-term medication management, where incorrect medication delivery may compromise patient safety and treatment outcomes. This study presents the design and experimental validation of a cyber-physical medication dispensing platform integrating robotic manipulation, edge AI-based visual verification, distributed motion control, and cloud synchronization. The platform combines a rotary medication storage mechanism, vacuum-based pill handling, a Klipper-based control framework, and a YOLOv8 perception subsystem deployed on a Hailo AI accelerator for real-time edge inference. Experimental evaluation was conducted under controlled laboratory conditions. Using an environment-specific validation dataset, the perception subsystem achieved a precision of 0.627, recall of 0.739, and mAP@0.5 of 0.786. An adaptive verification strategy was subsequently evaluated to improve dispensing verification under varying pill occupancy conditions. End-to-end system testing comprising 80 dispensing trials achieved an overall dispensing success rate of 86.25%, with no incorrect dispensing events observed. The results demonstrate the feasibility of integrating edge AI verification, distributed control, and cloud connectivity within a cyber-physical medication dispensing platform. The presented system provides a foundation for future research on perception-assisted medication dispensing, long-term deployment, and clinical validation in smart healthcare environments.