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Design and Simulation of a Tactile Sensor for Soft-Tissue Compliance Detection
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- Bab Ahmed M. R. Fath El
- Department of Mechanical Engineering, Faculty of Engineering, Assiut University
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- Tamura Tomohisa
- Department of Physics, School of Engineering, Kyoto University
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- Sugano Koji
- Department of Micro Engineering, Graduate School of Engineering, Kyoto University
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- Tsuchiya Toshiyuki
- Department of Micro Engineering, Graduate School of Engineering, Kyoto University
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- Tabata Osamu
- Department of Micro Engineering, Graduate School of Engineering, Kyoto University
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- Eltaib Mohamed E. H.
- Department of Mechanical Engineering, Faculty of Engineering, Assiut University
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- Sallam Mohamed M.
- Department of Mechanical Engineering, Faculty of Engineering, Assiut University
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Description
A detailed design procedure for a tactile sensor for compliance detection is developed. The sensor principle is based on the concept of applying two springs, with considerably different stiffnesses, to soft tissue for compliance detection. The spring stiffnesses are chosen to be associated with the soft tissue properties. The sensor design parameters are optimized to give high sensitivity and linearity of the sensor output with taking into account the effect of crosstalk between two springs due to the tissue deformation. A finite element model is developed to investigate the sensor performance with the designed parameters using two types of spring end, namely cubic and spherical in shape. The results show a significant stability of reading with the cubic end rather than the spherical one during pushing the sensor against a tissue. Finally, the same finite element model is used with changing the distance between the spring ends to show the crosstalk effect due to the tissue deformation.
Journal
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- IEEJ Transactions on Sensors and Micromachines
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IEEJ Transactions on Sensors and Micromachines 128 (5), 186-192, 2008
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390282679437373568
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- NII Article ID
- 10021135259
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- NII Book ID
- AN1052634X
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- ISSN
- 13475525
- 13418939
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- HANDLE
- 2433/78965
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- NDL BIB ID
- 9496142
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL Search
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed