1A1-L06 Multi-fingered Robotic Measurement System for Stiffness(Robot Hand Mechanism and Grasping Strategy (1))
1A1-L06 ロボットハンドを用いた剛性計測システム(ロボットハンドの機構と把持戦略(1))

Tetsuya MOURI, Yoko IMADA, Haruhisa KAWASAKI, Yasuhiko ISHIGURE
2013 The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  
We propose a system that can precisely quantify breast stiffness as an estimate of engorgement. The table-top system uses a multi-fingered robotic hand that can simultaneously measure fingertip force and position with high precision at multiple points. The system includes a robot hand, a support base, power supply, and software for control, data entry and data analysis. The manipulation of the robotic hand is accomplished automatically. We tested the system with a breast exam simulator and
more » ... that the stiffness data obtained by the system can be used to objectively estimate breast engorgement.
doi:10.1299/jsmermd.2013._1a1-l06_1 fatcat:i3mrvf6xvvdlxkuea6pbkorm7y