We develeped a neNv technique foT measuring a softness oflhe larget object . This is the reason that the technique inheritance ofquantify the palpation is difficult in medical scene . In our propOsed method , we realized good pertbnnance ofsoftness measurement by placing the " softer sponge " than the ta匸 get ebject in the front of the pressure sensor to mitigate collisions and pushing the target object at 「 ' a certain distance ( く mm ) " . 【 I could apply ft 〕r nledical , food , and industrial fields 、
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