Abstract
In this study, we report on a palpation device with a roller to detect a solid object in a flexible object. This palpation device consists of the roller, a shaft, a spring, a case, a top plate, and a force sensor. This device scans the surface of the flexible object in which the solid object was embedded. This device measures reaction force by several shapes of the measurement objects. Since the roller reduces the friction, the device scans easily. The difference of the reaction force increases with decreasing depth. Moreover, the shape of the reaction force graph is similar to the upper surface of the solid object. We were able to detect quantitatively the solid object in the flexible object by our palpation device.
