Diligent Robotics

Diligent Robotics deploys Moxi primarily through a turnkey Robotics-as-a-Service (RaaS) subscription model rather than one-time capital equipment sales. Annual subscription rates typically range between $60,000 and $80,000 per robot annually (with enterprise department multi-robot programs scaling to ~$200,000 ARR). This fee covers comprehensive hardware leasing, continuous software maintenance, 24/7 cloud tele-supervision, workflow configuration, on-site maintenance, and automatic over-the-air algorithm upgrades.

Diligent Robotics completed initial clinical pilots between 2018 and 2019, officially entering full commercial availability in late 2019. The second-generation platform (Moxi 2.0) has been actively mass-deployed in health systems since 2022. Following Diligent's acquisition by Serve Robotics in January 2026, Moxi is fully commercialized and expanding its fleet footprint across acute-care hospital systems throughout the United States.

Moxi has been deployed across dozens of leading hospitals and academic medical centers nationwide. Notable enterprise deployments include Cedars-Sinai Medical Center in Los Angeles, CA; Northwestern Medicine in Chicago, IL; Mary Washington Healthcare in Fredericksburg, VA; ChristianaCare in Newark, DE; Rochester Regional Health in NY; Shannon Medical Center in San Angelo, TX; and Texas Health Resources. These hospital fleets operate continuous multi-shift distribution cycles.

Moxi is designed exclusively for non-patient-facing logistical transport tasks that typically pull nurses away from bedside care. Workflows include fetching and delivering routine medications from the central pharmacy, transporting laboratory pathology specimens, distributing personal protective equipment (PPE), restocking specialty unit supply closets, and delivering patient admission care packages across multi-story hospital towers.

Moxi features a hybrid mobile manipulation architecture. Its base utilizes an omnidirectional holonomic drive system powered by brushless DC servo motors, allowing lateral translation and zero-radius turning in tight hospital hallways. Its upper body features a vertical telescoping linear lift column for reaching varying counter heights, paired with an integrated 7-degree-of-freedom (7-DoF) compliant robotic manipulator arm with high-precision harmonic drives and embedded joint-torque sensing.

Moxi utilizes an underactuated parallel-jaw gripper end-effector equipped with compliant rubberized contact pads, integrated tactile grip pressure sensors, and fingertip optical sensors. The gripper has 1 active degree of freedom optimized for reliable, non-destructive grasping of medical supply bins, pill bottles, sample bags, and physical badge cards, as well as actuating automatic door handicap buttons.

Moxi is powered by an onboard 1.2 to 1.5 kWh medical-grade lithium-ion battery system providing between 8 and 12 hours of continuous active transit under standard multi-floor hospital duty cycles. The robot autonomously tracks state-of-charge and navigates to an inductive/contact docking charging bay during idle operational windows, utilizing opportunity fast-charging to maintain 24/7 facility readiness without manual battery swapping.

Moxi operates primarily at Level 4 indoor operational autonomy. Routine navigation, elevator transit, human avoidance, and schedule dispatching occur entirely onboard using autonomous algorithms. Diligent maintains a human-in-the-loop cloud monitoring system ('tele-assist') that flags unexpected edge cases—such as an unmapped closed fire door or ambiguous object clutter—enabling remote operations engineers to provide quick sub-second waypoints or assist with complex grasping interventions.

Moxi's perception suite combines 2D safety planar LiDAR at the base, head-mounted RGB-D depth sensors (Intel RealSense), ambient situational RGB cameras, and ultrasonic proximity arrays. Its perception pipeline integrates spatial visual-inertial SLAM, convolutional neural networks for semantic object detection and classification, and social navigational cost-maps that predict pedestrian foot traffic and respect clinical personal space.

Engineered for close human-robot collaboration, Moxi adheres to ANSI/RIA R15.08 and ISO 3691-4 industrial and service robot safety standards. Its 7-DoF arm employs backdrivable compliant impedance control with strict software-limited and hardware-limited force thresholds (stopping instantaneously upon encountering unexpected physical resistance). Additionally, base LiDAR safety fields enforce dynamic speed reduction and complete emergency stops when pedestrians approach within collision safety margins.