Human vs. robotic tactile sensing: Detecting lumps in soft tissue

• Published in: 2010 IEEE Haptics Symposium pp. 21 - 28
• Main Authors: Gwilliam, James C, Pezzementi, Zachary, Jantho, Erica, Okamura, Allison M, Hsiao, Steven
• Format: Conference Proceeding
• Language: English; Japanese
• Published: IEEE 01.03.2010
• Subjects: Biological tissues; Feedback; Fingers; H.1.2 [Models and Principles]: User/Machine Systems-Human Information Processing; H.5.2 [Information Interfaces and Presentation]: User Interfaces-Haptic I/O; Humans; I.5.2 [Pattern Recognition]: Design Methodology-Classifier Design and Evaluation; Laparoscopes; Performance evaluation; Robot sensing systems; Sensor phenomena and characterization; Signal detection; Tactile sensors

Humans can localize lumps in soft tissue using the distributed tactile feedback and processing afforded by the fingers and brain. This task becomes extremely difficult when the fingers are not in direct contact with the tissue, such as in laparoscopic or robot-assisted procedures. Tactile sensors ha...