2A1-41 柔軟接触センサによるロボット触診動作における形状認識特性(講演,生体計測III)

Abstract

This paper describes about shape recognition of human body in palpation by a robot with a flexible contact sensor. The goal of this study is to detect lumps in human body. A flexible contact part of the sensor that is used in this study is so soft that the sensor can contact human body comfortably and it can deform passively depend on the shape of human body. Based on these advantages, motion plan of palpation by a robot arm with the flexible contact sensor is proposed. The validity of this motion plan is confirmed experimentally.