Study on a roller scanning type palpation sensor

Palpation is a simple diagnosis method that doctors examine body and organs of patients by feeling with their hand. However, palpation is not objective because the palpation sensitivity depends on skill and experience of doctors. Therefore, an objective method for measuring tactile information is required. In this study, a palpation sensor system for detecting a lump is proposed and fabricated. Fundamental characteristics of the sensor are examined by using measuring objects made of polyurethane resin and aluminium rods as a lump. A peak waveform appears in the sensor output when the sensor is above the lump. In addition, the measuring objects using the silicone cylinder are made in place of aluminium rod. Also, the experiment is done, and the features of peaks are investigated. From the results, it is confirmed that the sensor is available to detect the lump.