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

@inproceedings{He:2021:10.1109/ICRA48506.2021.9561959,
author = {He, L and Leong, F and Dulantha, Lalitharatne T and De, Lusignan S and Nanayakkara, T},
doi = {10.1109/ICRA48506.2021.9561959},
pages = {12588--12594},
publisher = {IEEE},
title = {A haptic mouse design with stiffening muscle layer for simulating guarding in abdominal palpation training},
url = {http://dx.doi.org/10.1109/ICRA48506.2021.9561959},
year = {2021}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - A  patient  would  contract  surface  muscles  as  areaction called muscle guarding when experiencing discomfortand pain during physical palpation. This reaction carries impor-tant information about an affected location. Training physiciansto regulate palpation forces to elicit just enough muscle tensionis a challenge using real patients. Tunable stiffness mechanismsenabled   by   soft   robotics   can   be   effectively   integrated   intomedical  simulator  designs  for  effective  clinical  education.  Inthis  paper,  we  propose  a  controllable  stiffness  muscle  layer  tosimulate  guarding  for  abdominal  palpation  training.  Designswith  soft,  fine,  and  rigid  granular  jamming,  stretchable  andnon-stretchable  layer  jamming  mechanisms  were  tested  andevaluated  as  methods  to  create  controllable  stiffness  muscle.User studies have been carried out on10naive participants todifferentiate the tense and relaxed abdomen with the proposedjamming  mechanisms.  Muscle  samples  made  of  ground  coffee(fine  granular  jamming)  and  latex  layers  (stretchable  layerjamming)  show  good  usability  in  simulating  abdomen  withdifferent  stiffness  with  at  least 75% of  the  user  data  exhibitsmore  than70%of  decision  accuracy  for  both  tested  palpationgestures  (single  finger  and  multiple  fingers)  after  short  pre-training.
AU  - He,L
AU  - Leong,F
AU  - Dulantha,Lalitharatne T
AU  - De,Lusignan S
AU  - Nanayakkara,T
DO  - 10.1109/ICRA48506.2021.9561959
EP  - 12594
PB  - IEEE
PY  - 2021///
SN  - 2152-4092
SP  - 12588
TI  - A haptic mouse design with stiffening muscle layer for simulating guarding in abdominal palpation training
UR  - http://dx.doi.org/10.1109/ICRA48506.2021.9561959
UR  - http://hdl.handle.net/10044/1/90754
ER  -
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