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An advanced robot system for automated diagnostic tasks through palpation

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2 Author(s)
Dario, P. ; Centro E Piaggio, Pisa Univ., Italy ; Bergamasco, M.

An approach to the design of a robot system capable of executing complex sensory-motor sequences aimed at gathering data useful for diagnostic purposes is presented. The main features of such a robot system are discussed, and its possible integration in an advanced, interactive expert system for medical diagnosis is considered. As an example of implementation of the concept of a robot system for automated diagnostic tasks, the design characteristics of a tendon-actuated, anthropomorphic finger, incorporating force and position sensors for low-level compliant motion control and skin-like sensors for tactile perception, are outlined. The hierarchical control architecture devised for managing some different diagnostic sensory-motor sequences (subroutines) is also presented.

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Biomedical Engineering, IEEE Transactions on  (Volume:35 ,  Issue: 2 )