Abstract
We have developed the tactile sensor including the bidirectionality for the laparoscope-assisted surgery. In active touch, exploratory movements influences perception, but also perception influences exploration. Humans can optimize or change the exploratory movements according to the perception and/or the task, consciously or unconsciously. Our proposed sensor has a potential to use the user's ability on the haptic perception due to including the bidirectionality. A slim forceps-shaped sensor is assembled and the sensor output for a simulated lump is discussed in this paper.
