Directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensor
Abstract Palpation is widely used as the initial medical diagnosis. Integration of micro tactile sensors and artificial muscles enables a soft microfinger for active touch sensing using its bending actuation. Active touch sensing by pushing-in motion of microfinger enables to evaluate stiffness dist...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2022-12-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-022-25847-2 |
| _version_ | 1811179198747770880 |
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| author | Satoshi Konishi Yugo Kakehi Yuto Hori |
| author_facet | Satoshi Konishi Yugo Kakehi Yuto Hori |
| author_sort | Satoshi Konishi |
| collection | DOAJ |
| description | Abstract Palpation is widely used as the initial medical diagnosis. Integration of micro tactile sensors and artificial muscles enables a soft microfinger for active touch sensing using its bending actuation. Active touch sensing by pushing-in motion of microfinger enables to evaluate stiffness distribution on an elastic object. Due to its compactness, the microfinger can enter a narrow space, such as gastrointestinal and abdominal spaces in a body. However, a microfinger can only touch and sense limited points. We aim at efficient method for searching a stiffness singular part in an elastic object by the directional touch sensing of a microfinger. This study presents a microfinger for active touch sensing using bending and push-in actuation and proposes an algorithm utilizing directivity in touch sensing by a microfinger for efficient localization of the stiffness singular part in an object. A gelatin block structure with a small rigid ball was prepared and touch sensed by the microfinger. Consequently, the position of the buried rigid ball could be efficiently identified based on the proposed algorithm. This result implies that the proposed method has potential applications in endoscopic medical diagnosis, particularly in identifying tumor positions. |
| first_indexed | 2024-04-11T06:30:53Z |
| format | Article |
| id | doaj.art-9f417f4681c24de69d02f270b4a573de |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-04-11T06:30:53Z |
| publishDate | 2022-12-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-9f417f4681c24de69d02f270b4a573de2022-12-22T04:40:05ZengNature PortfolioScientific Reports2045-23222022-12-011211910.1038/s41598-022-25847-2Directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensorSatoshi Konishi0Yugo Kakehi1Yuto Hori2Department of Mechanical Engineering, Ritsumeikan UniversityGraduate Course of Science and Engineering, Ritsumeikan UniversityGraduate Course of Science and Engineering, Ritsumeikan UniversityAbstract Palpation is widely used as the initial medical diagnosis. Integration of micro tactile sensors and artificial muscles enables a soft microfinger for active touch sensing using its bending actuation. Active touch sensing by pushing-in motion of microfinger enables to evaluate stiffness distribution on an elastic object. Due to its compactness, the microfinger can enter a narrow space, such as gastrointestinal and abdominal spaces in a body. However, a microfinger can only touch and sense limited points. We aim at efficient method for searching a stiffness singular part in an elastic object by the directional touch sensing of a microfinger. This study presents a microfinger for active touch sensing using bending and push-in actuation and proposes an algorithm utilizing directivity in touch sensing by a microfinger for efficient localization of the stiffness singular part in an object. A gelatin block structure with a small rigid ball was prepared and touch sensed by the microfinger. Consequently, the position of the buried rigid ball could be efficiently identified based on the proposed algorithm. This result implies that the proposed method has potential applications in endoscopic medical diagnosis, particularly in identifying tumor positions.https://doi.org/10.1038/s41598-022-25847-2 |
| spellingShingle | Satoshi Konishi Yugo Kakehi Yuto Hori Directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensor Scientific Reports |
| title | Directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensor |
| title_full | Directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensor |
| title_fullStr | Directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensor |
| title_full_unstemmed | Directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensor |
| title_short | Directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensor |
| title_sort | directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensor |
| url | https://doi.org/10.1038/s41598-022-25847-2 |
| work_keys_str_mv | AT satoshikonishi directionaltouchsensingforstiffnesssingularitysearchinanobjectusingmicrofingerwithtactilesensor AT yugokakehi directionaltouchsensingforstiffnesssingularitysearchinanobjectusingmicrofingerwithtactilesensor AT yutohori directionaltouchsensingforstiffnesssingularitysearchinanobjectusingmicrofingerwithtactilesensor |