Abstract
Presentation of various softness feeling of complicated multilayer anatomical structures has been required for the medical robots. However it has not yet been realized, because the model of a physical and physiological multilayer softness has not been made. In order to build the physical model, it is necessary to measure the contact area, the pushing depth, and the reaction force. In order to measure them, subjects' finger touched hard or soft single-layer jellies and touched the double layer jellies of which upper layer was soft or hard, respectively in this experiment. The results showed that the three parameters' relationships were different from each four jellies' ones.
