Multimodal Sensing for Robot-Assisted Sub-Tissue Feature Detection in Physiotherapy Palpation
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based tactile imaging with a 6-axis force-torque sensor. In experiments on silicone phantoms with diverse subsurface tendon geometries, force signals alone frequently produce ambiguous responses, while tactile images reveal clear structural differences in presence, diameter, depth, crossings, and multiplicity. Yet accurate force tracking remains essential for maintaining safe, consistent contact during physiotherapeutic interaction. Preliminary results show that combining tactile and force modalities enables robust subsurface feature detection and controlled robotic palpation.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Where is the Boundary: Multimodal Sensor Fusion Test Bench for Tissue Boundary Delineation
Robot-assisted neurological surgery is receiving growing interest due to the improved dexterity, precision, and control of surgical tools, which results in better patient outcomes. However, such systems often limit surge…
PalpAid: Multimodal Pneumatic Tactile Sensor for Tissue Palpation
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted …
Learning-based Force Sensing and Impedance Matching for Safe Haptic Feedback in Robot-assisted Laparoscopic Surgery
Integrating accurate haptic feedback into robot-assisted minimally invasive surgery (RAMIS) remains challenging due to difficulties in precise force rendering and ensuring system safety during teleoperation. We present a…
MiDAS: A Multimodal Data Acquisition System and Dataset for Robot-Assisted Minimally Invasive Surgery
Background: Robot-assisted minimally invasive surgery (RMIS) research increasingly relies on multimodal data, yet access to proprietary robot telemetry remains a major barrier. We introduce MiDAS, an open-source, platfor…
Gesture RecognitionHARPS: An Online POMDP Framework for Human-Assisted Robotic Planning and Sensing
Autonomous robots can benefit greatly from human-provided semantic characterizations of uncertain task environments and states. However, the development of integrated strategies which let robots model, communicate, and a…