Journal article
Action augmentation of tactile perception for soft-body palpation
- Abstract:
- Medical palpation is a diagnostic technique in which physicians use the sense of touch to manipulate the soft human tissue. This can be to enable the diagnosis of possibly life-threatening conditions, such as cancer. Palpation is still poorly understood because of the complex interaction dynamics between the practitioners’ hands and the soft human body. To understand this complex soft body interactions, we explore robotic palpation for the purpose of diagnosing the presence of abnormal inclusions, or tumours. Using a Bayesian framework for diagnosis, we show that the for the exploration of soft bodies we require complex, multi-axis, palpation trajectories. We also find that this probabilistic approach is capable of rapidly searching the large action space of the robot. This work progress ’robotic’ palpation, and provides frameworks for understanding and exploiting soft body interactions.
- Publication status:
- Published
- Peer review status:
- Peer reviewed
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- Files:
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(Preview, Version of record, 1.1MB, Terms of use)
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- Publisher copy:
- 10.1089/soro.2020.0129
Authors
- Publisher:
- Mary Ann Liebert
- Journal:
- Soft Robotics Journal More from this journal
- Volume:
- 9
- Issue:
- 2
- Pages:
- 280-292
- Publication date:
- 2021-08-24
- Acceptance date:
- 2021-04-21
- DOI:
- EISSN:
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2169-5180
- ISSN:
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2169-5172
- Language:
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English
- Keywords:
- Pubs id:
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1173570
- Local pid:
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pubs:1173570
- Deposit date:
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2021-04-26
Terms of use
- Copyright holder:
- Scimeca et al.
- Copyright date:
- 2021
- Rights statement:
- © Luca Scimeca et al. 2021; Published by Mary Ann Liebert, Inc. This Open Access article is distributed under the terms of the Creative Commons License [CC-BY] (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
- Licence:
- CC Attribution (CC BY)
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