抄録
This paper discusses a novel development in estimating the feature of hard lump embedded into the soft tissue with the tactile sensor emulating the major features of the human finger. The aim of this study is to realize precise and quantitative tactile sensing, especially in the stiffness. When pressed into and scanned over the tissue of interest with the tactile sensor proposed, the outputs of the five strain gages could insight the information of the hard lump.
