Open Access System for Information Sharing

Login Library

 

Article
Cited 0 time in webofscience Cited 0 time in scopus
Metadata Downloads

접촉 압력 분포를 이용한 로봇 의료 촉진

Title
접촉 압력 분포를 이용한 로봇 의료 촉진
Authors
KIM, HYOUNG KYUNCHOI, SEUNGMOONCHUNG, WAN KYUN
POSTECH Authors
CHOI, SEUNGMOONCHUNG, WAN KYUN
Date Issued
Mar-2017
Publisher
한국로봇학회
Abstract
In this paper we present a novel robotic palpation method for the lump shape estimation using contact pressure distribution. Many previous researches about the robotic palpation have used a stiffness map, which is not suitable to obtain geometrical information of a lump. As a result, they require a large data set and long palpation time to estimate the lump shape. Instead of using the stiffness map, the proposed palpation method uses the difference between the normal force direction and the surface normal to detect the lump boundary and estimate its normal. The palpation trajectory is generated by the normal of the lump boundary to track the lump boundary in real-time. The proposed approach requires small data set and short palpation time for the lump shape estimation since the shape can be directly estimated from the optimally generated palpation trajectory. An experiment result shows that our method can find the lump shape accurately in real-time with small data and short time.
Keywords
Tactile Sensing; Medical Robot; Medical Palpation
URI
http://oasis.postech.ac.kr/handle/2014.oak/41257
ISSN
1975-6291
Article Type
Article
Citation
로봇학회 논문지, vol. 3, no. 12, page. 322 - 331, 2017-03
Files in This Item:
There are no files associated with this item.

qr_code

  • mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

Related Researcher

Researcher

 CHUNG, WAN KYUN
Dept of Mechanical Enginrg
Read more

Views & Downloads

Browse