10211 Improvement of Palpation for Human Soft Tissues Based on 3D Indentation System

In order to investigate the human body by palpation, three-dimensional evaluation is useful for precise diagnosis. Here, the result of the systems development for this palpation is reported for realization of the three-dimensional evaluation. This system is developed using the 3D0F desktop robot. For palpation, a tactile force sensor was adopted as a probe of this robot. The tactile data can be measured as 3D forces by using this sensor. The measured force is analyzed using the extended Hertian contact theory, and error is found in the analized result. Since this error is caused by the shape of the specimen, it is reported that the error can be reduced by modification procedure.