抄録
Among the Japanese women, the disease rate of breast cancer became the most highest one, over ahead of that of stomach cancer. Detection of breast cancer is implemented by both palpation diagnosis and mammography. Palpation motion requires for doctor to have a highly skilled technique. In this study, we aim at developing a palpation simulator which has an actual breat model to be touched by human in natural manner. The developed palpation simulator is composed with multiaxis orthogonal axis driven with pneumatic cylinders. Force based compliance control system in implemented to display force feeling from lump model constructed in a VR environment. The validity of the proposed palpation system are confirmed through some experiments and analysis.
