Detection of Rigid Object Embedded in Skin Model Using Tactile Sensor for Palpation

Tactile sensing similar to the human sense is essential for automated or remote diagnosis by palpation. We have developed a miniature tactile sensor with sensitivity to normal force and shear force fabricated by MEMS technologies and have demonstrated that it can provide output reflecting the hardness and layer structure of a skin model in our previous work. In this study, the sensor has been applied to detect the position of a rigid object that imitates a lump when it exists in the skin model. As a result, it is suggested that position and boundary with the rigid object inside the skin model can be detected by the tactile sensor and it can be applied to the skin monitoring in palpation.