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BibTex format

@article{Scimeca:2021:10.1089/soro.2020.0129,
author = {Scimeca, L and Hughes, J and He, L and Nanayakkara, T and Iida, F},
doi = {10.1089/soro.2020.0129},
journal = {Soft Robotics},
title = {Action augmentation of tactile perception for soft-body palpation},
url = {http://dx.doi.org/10.1089/soro.2020.0129},
volume = {9},
year = {2021}
}

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TY  - JOUR
AB  - Medical palpation is a diagnostic technique in which physicians use the sense of touch to manipulate the soft human tissue. This can be to enable the diagnosis of possibly life-threatening conditions, such as cancer. Palpation is still poorly understood because of the complex interaction dynamics between the practitioners’ hands and the soft human body.  To understand this complex soft body interactions, we explore robotic palpation for the purpose of diagnosing the presence of abnormal inclusions, or tumours. Using a Bayesian framework for training and classification, we show that the for the exploration of soft bodies requires complex, multi-axis, palpation trajectories. We also find that this probabilistic approach  is  capable  of  rapidly  searching  the  large  action  space  of  the  robot.   This  work  progresses  ‘robotic’ palpation, and provides frameworks for understanding and exploiting soft body interactions.
AU  - Scimeca,L
AU  - Hughes,J
AU  - He,L
AU  - Nanayakkara,T
AU  - Iida,F
DO  - 10.1089/soro.2020.0129
PY  - 2021///
SN  - 2169-5180
TI  - Action augmentation of tactile perception for soft-body palpation
T2  - Soft Robotics
UR  - http://dx.doi.org/10.1089/soro.2020.0129
UR  - https://www.liebertpub.com/doi/10.1089/soro.2020.0129
UR  - http://hdl.handle.net/10044/1/87818
VL  - 9
ER  -

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Professor Thrishantha Nanayakkara

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