抄録
The purpose of this study is to scan the surface of a phantom imitating the human body with a probe equipped with a three-axis tactile sensor, and to estimate the inner texture from the acquired data. As an experimental method, a stepping motor connected to a tactile probe scans a phantom containing imitated organs in two directions, and measures shear stress and pressure. From the experimental results, it was confirmed that the shear stress in the scanning direction can easily estimate the phantom inner texture. In addition, it was confirmed that the estimation could be made more clearly by increasing the load at the tip of the probe.
