Abstract
Palpation is a diagnosis method with touch feeling. The diagnosis by palpation is subjective, and the accuracy of diagnosis depends on the physician's experience and skill. Therefore, there is a need for a sensor system that performs palpation more objectively and automatically. In this study, we developed a palpation sensor system using a robotic finger that imitates a doctor's finger, targeting the prostate gland. In this study, a robotic finger was used to push a spherical indenter at the tip of the finger into a palpable object, and the hardness was estimated from the amount of pushing and the contact force. As a result, it was confirmed that it is possible to estimate the difference in Young's modulus of samples of different hardness, which are objects to be palpated.
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