A tactile sensor with the reference plane for detection abilities of frictional force and human body hardness aimed to medical applications

Abstract

In this study, a novel tactile sensor with detection abilities of human body hardness and frictional force is reported. A new device configuration of back-side contact is proposed to realize a higher sensitivity of hardness, and low sensitivity to normal force. Miniaturization and sensitivity improvement of tactile sensor are important to apply the sensor to palpation inside of the body. Surface frictional force was successfully measured with rubber block in real time using our tactile image sensor. A completed device was evaluated, and shore A hardness was measured in the range from 1 HS to 54 HS. This performance corresponds to the hardness detection ability of adiposus in human body.

A sensor review for human detection with robotic systems in regular and smoky environments

“…The tactile sensor demonstrates a standard deviation of 0.447 under fluctuating pressing force, compared to 0.7 with a conventional durometer measurement under controlled pressing force. Two other works 50,51 also examine tactile sensors. The authors 50,51 successfully demonstrate the proposed detection principles through evaluation experiments.…”

“…Two other works 50,51 also examine tactile sensors. The authors 50,51 successfully demonstrate the proposed detection principles through evaluation experiments. They reduce the contact force and optimize the layout of the reference plane.…”

Experimental Study of Hardness Measurement affected by a Cushion between Probe and PTF Pressure sensor

“…As shown in Fig.2a, hardness measurement is realized by a hard material's probe body such as metal, and it is important to control and measure the displacement (indent) of the probe by the pushing force [29][30][31]. It can be realized by the material hardness of the probe body.…”