1A1-L06 ロボットハンドを用いた剛性計測システム(ロボットハンドの機構と把持戦略(1))

抄録

We propose a system that can precisely quantify breast stiffness as an estimate of engorgement. The table-top system uses a multi-fingered robotic hand that can simultaneously measure fingertip force and position with high precision at multiple points. The system includes a robot hand, a support base, power supply, and software for control, data entry and data analysis. The manipulation of the robotic hand is accomplished automatically. We tested the system with a breast exam simulator and found that the stiffness data obtained by the system can be used to objectively estimate breast engorgement.