2013 World Haptics Conference (WHC) 2013
DOI: 10.1109/whc.2013.6548404
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Lump detection with a gelsight sensor

Abstract: A GelSight sensor is a tactile sensing device comprising a clear elastomeric pad covered with a reflective membrane, coupled with optics to measure the membrane's deformations. When the pad is pressed against an object's surface, the membrane changes shape in accord with mechanical and geometrical properties of the object. Since soft tissue is more compliant than hard tissue, one can detect an embedded lump by pressing the GelSight pad against the tissue surface and observing the hump that forms over the lump.… Show more

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Cited by 14 publications
(2 citation statements)
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“…Samples of trained shapes but untrained hardness were measured with a root-mean-square error (RMSE) of 00-5.18, 5.95% of range. The Gelsight sensor has also been shown to be able to measure forces when interacting with stiff objects and detect embedded nodules when statically held against a sample [30], [31]. However, it has not been shown if this sensor can be used in dynamic palpation to locate changes in stiffness and locate embedded objects in soft materials.…”
Section: Stiffness Sensing Literature Reviewmentioning
confidence: 99%
“…Samples of trained shapes but untrained hardness were measured with a root-mean-square error (RMSE) of 00-5.18, 5.95% of range. The Gelsight sensor has also been shown to be able to measure forces when interacting with stiff objects and detect embedded nodules when statically held against a sample [30], [31]. However, it has not been shown if this sensor can be used in dynamic palpation to locate changes in stiffness and locate embedded objects in soft materials.…”
Section: Stiffness Sensing Literature Reviewmentioning
confidence: 99%
“…This method is frequently used by researchers to simulate the inclusion of a malignant tissue surrounded by normal tissue. 27,30,31,33,[44][45][46] By this method, a sharp discontinuity in mechanical properties is incorporated to the model. Sokhanvar et al 17 have shown that the precision of the lump detection is decreased by increasing the stiffness of tissues; therefore, the hardest material model (tissue 3) was considered as being the worst-case scenario.…”
Section: Evaluation Of Hidden Mass Detection (Simulation Ii)mentioning
confidence: 99%