Imperial College London
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Professor Thrishantha Nanayakkara

Faculty of Engineering, Dyson School of Design Engineering

Professor in Robotics
 
 
 
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Contact

 

+44 (0)7902 396 681t.nanayakkara Website CV

 
 
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Location

 

RCS 1M07Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Herzig:2020:10.1371/journal.pone.0237379,
author = {Herzig, N and He, L and Maiolino, P and Guaman, SAA and Nanayakkara, T},
doi = {10.1371/journal.pone.0237379},
journal = {PLoS One},
title = {Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe},
url = {http://dx.doi.org/10.1371/journal.pone.0237379},
volume = {15},
year = {2020}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This paper provides a solution for fast haptic information gain during soft tissue palpation using a Variable Lever Mechanism (VLM) probe. More specifically, we investigate the impact of stiffness variation of the probe to condition likelihood functions of the kinesthetic force and tactile sensors measurements during a palpation task for two sweeping directions. Using knowledge obtained from past probing trials or Finite Element (FE) simulations, we implemented this likelihood conditioning in an autonomous palpation control strategy. Based on a recursive Bayesian inferencing framework, this new control strategy adapts the sweeping direction and the stiffness of the probe to detect abnormal stiff inclusions in soft tissues. This original control strategy for compliant palpation probes shows a sub-millimeter accuracy for the 3D localization of the nodules in a soft tissue phantom as well as a 100% reliability detecting the existence of nodules in a soft phantom.
AU  - Herzig,N
AU  - He,L
AU  - Maiolino,P
AU  - Guaman,SAA
AU  - Nanayakkara,T
DO  - 10.1371/journal.pone.0237379
PY  - 2020///
SN  - 1932-6203
TI  - Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe
T2  - PLoS One
UR  - http://dx.doi.org/10.1371/journal.pone.0237379
UR  - http://hdl.handle.net/10044/1/81931
VL  - 15
ER  -
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