Novel air-float tactile array for stiffness characterization in soft tissue palpation

Indika B. Wanninayake; Kaspar Althoefer; Lakmal D. Seneviratne

doi:10.1016/j.proeng.2012.07.174

Novel air-float tactile array for stiffness characterization in soft tissue palpation

Indika B. Wanninayake, Kaspar Althoefer, Lakmal D. Seneviratne

Mechanical & Nuclear Engineering

King's College London

Research output: Contribution to journal › Conference article › peer-review

4 Scopus citations

Abstract

This paper presents a feasibility study of a novel air-float palpation probe for stiffness characterization in soft tissues. The probe is designed to accommodate multiple sensing elements which allow rapid acquisition and averaging of tactile information. Each sensing element has a sphere floating on a thin lubricating film of air. Hence the probe can move over soft tissues in any direction in a near frictionless manner. With the air pressure maintained constant, the displacement of each sensing element is a direct function of the stiffness of the tissue under investigation. The sensor has a tunable force range and the indentation force can be adjusted externally to match tissue limitations. The structure, working principle, a mathematical model for sensor output and the behavior of the tactile sensing system are described.

Original language	British English
Pages (from-to)	281-288
Number of pages	8
Journal	Procedia Engineering
Volume	41
DOIs	https://doi.org/10.1016/j.proeng.2012.07.174
State	Published - 2012
Event	2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 - Kuching, Sarawak, Malaysia Duration: 4 Sep 2012 → 6 Sep 2012

Keywords

Haptics and haptic interfaces
Optical sensing
Tactile sensing

Access to Document

10.1016/j.proeng.2012.07.174

Cite this

@article{32236c47c54b450996ae07b946b33427,

title = "Novel air-float tactile array for stiffness characterization in soft tissue palpation",

abstract = "This paper presents a feasibility study of a novel air-float palpation probe for stiffness characterization in soft tissues. The probe is designed to accommodate multiple sensing elements which allow rapid acquisition and averaging of tactile information. Each sensing element has a sphere floating on a thin lubricating film of air. Hence the probe can move over soft tissues in any direction in a near frictionless manner. With the air pressure maintained constant, the displacement of each sensing element is a direct function of the stiffness of the tissue under investigation. The sensor has a tunable force range and the indentation force can be adjusted externally to match tissue limitations. The structure, working principle, a mathematical model for sensor output and the behavior of the tactile sensing system are described.",

keywords = "Haptics and haptic interfaces, Optical sensing, Tactile sensing",

author = "Wanninayake, {Indika B.} and Kaspar Althoefer and Seneviratne, {Lakmal D.}",

year = "2012",

doi = "10.1016/j.proeng.2012.07.174",

language = "British English",

volume = "41",

pages = "281--288",

journal = "Procedia Engineering",

issn = "1877-7058",

publisher = "Elsevier BV",

note = "2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 ; Conference date: 04-09-2012 Through 06-09-2012",

}

TY - JOUR

T1 - Novel air-float tactile array for stiffness characterization in soft tissue palpation

AU - Wanninayake, Indika B.

AU - Althoefer, Kaspar

AU - Seneviratne, Lakmal D.

PY - 2012

Y1 - 2012

N2 - This paper presents a feasibility study of a novel air-float palpation probe for stiffness characterization in soft tissues. The probe is designed to accommodate multiple sensing elements which allow rapid acquisition and averaging of tactile information. Each sensing element has a sphere floating on a thin lubricating film of air. Hence the probe can move over soft tissues in any direction in a near frictionless manner. With the air pressure maintained constant, the displacement of each sensing element is a direct function of the stiffness of the tissue under investigation. The sensor has a tunable force range and the indentation force can be adjusted externally to match tissue limitations. The structure, working principle, a mathematical model for sensor output and the behavior of the tactile sensing system are described.

AB - This paper presents a feasibility study of a novel air-float palpation probe for stiffness characterization in soft tissues. The probe is designed to accommodate multiple sensing elements which allow rapid acquisition and averaging of tactile information. Each sensing element has a sphere floating on a thin lubricating film of air. Hence the probe can move over soft tissues in any direction in a near frictionless manner. With the air pressure maintained constant, the displacement of each sensing element is a direct function of the stiffness of the tissue under investigation. The sensor has a tunable force range and the indentation force can be adjusted externally to match tissue limitations. The structure, working principle, a mathematical model for sensor output and the behavior of the tactile sensing system are described.

KW - Haptics and haptic interfaces

KW - Optical sensing

KW - Tactile sensing

UR - http://www.scopus.com/inward/record.url?scp=84901038510&partnerID=8YFLogxK

U2 - 10.1016/j.proeng.2012.07.174

DO - 10.1016/j.proeng.2012.07.174

M3 - Conference article

AN - SCOPUS:84901038510

SN - 1877-7058

VL - 41

SP - 281

EP - 288

JO - Procedia Engineering

JF - Procedia Engineering

T2 - 2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012

Y2 - 4 September 2012 through 6 September 2012

ER -

Novel air-float tactile array for stiffness characterization in soft tissue palpation

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this