Study on detection of lumps in a soft object by using a scanning roller type palpation sensor system

Issue title: Selected papers from the International Symposium on Applied Electromagnetics and Mechanics - ISEM 2019

Guest editors: Jinhao Qiu, Ke Xiong and Hongli Ji

Article type: Research Article

Authors: Wakayama, Taku^a | Okuyama, Takeshi^b | Tanaka, Mami^a;

Affiliations: [a] Graduate School of Biomedical Engineering, Tohoku University, Sendai, Miyagi, Japan | [b] Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Miyagi, Japan

Correspondence: [*] Corresponding author: Mami Tanaka, Graduate School of Biomedical Engineering, Tohoku University, Aoba 6-6-04, Aramaki, Aoba-ku, Sendai, Miyagi, 980-8579, Japan. Tel./Fax: +81 22 795 5879; E-mail: [email protected]

Abstract: In this study, a palpation sensor system is developed to detect a lump in a soft object. The developed sensor system consists of a contact part using a bearing, two linear sliders and a 3-axis load cell. While the roller type contact part is scanned against a soft object, reaction force applied to the contact part is measured. Lumps are detected by measuring fluctuation of the reaction force. In experiments, the sensor system is scanned against the samples. From the results, it is found that the lump with a small diameter embedded at a deep position.

Keywords: Palpation, contact force, lump, measurement

DOI: 10.3233/JAE-209386

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 64, no. 1-4, pp. 745-752, 2020