J024064 Development of 3D Indentation System for Palpation of Human Soft Tissues

Abstract

In order to investigate the human body by palpation, three-dimensional evaluation is useful for precise diagnosis. Here, the result of the systems development for this palpation is reported for realization of the threedimensional evaluation. This system is developed using the 3DOF desktop robot. For palpation, a tactile force sensor was adopted as a probe of this robot. The tactile data can be measured as 3D forces by using this sensor. The measured force is analyzed using the extended Hertian contact theory, and will be applied to investigate the state of human body. The hardness distribution inside any organization can be inspected by this result.