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The volume of residential travel with different purposes follows relatively stable patterns in a specific period and state; therefore, it can reflect the operating status of urban traffic and even indicate urban vitality. Recent research has focused on changes in the spatiotemporal characteristics of urban mobility affected by the pandemic but has rarely examined the impact of COVID-19 on the travel conditions and psychological needs of residents. To quantitatively assess travel characteristics during COVID-19, this paper proposed a method by which to determine the purpose of residential travel by combining urban functional areas (UFAs) based on machine learning. Then, the residential travel structure, which includes origin–destination (OD) points, residential travel flow, and the proportion of flows for different purposes, was established. Based on taxi trajectory data obtained during the epidemic in Nantong, China, the case study explores changes in travel flow characteristics under the framework of the residential travel structure. Through comparison of the number and spatial distribution of OD points in the residential travel structure, it is found that residential travel hotspots decreased significantly. The ratios of commuting and medical travel increased from 43.8% to 45.7% and 7.1% to 8.1%, respectively. Conversely, the ratios of other travel types all decreased sharply. Moreover, under Maslow's hierarchy of needs model, further insights into the impacts of COVID-19 on changes in residential psychological needs are discussed in this paper. This work can provide a reference for decision makers to cope with the change in urban traffic during a public health emergency, which is beneficial to the sustainable healthy development of cities. [ABSTRACT FROM AUTHOR]