Journal article
An abdominal phantom with tunable stiffness nodules and force sensing capability for palpation training
- Abstract:
-
Robotic phantoms enable advanced physical examination training before using human patients. In this article, we present an abdominal phantom for palpation training with controllable stiffness liver nodules that can also sense palpation forces. The coupled sensing and actuation approach is achieved by pneumatic control of positive-granular jammed nodules for tunable stiffness. Soft sensing is done using the variation of internal pressure of the nodules under external forces. This article makes...
Expand abstract
- Publication status:
- Published
- Peer review status:
- Peer reviewed
Actions
Authors
Bibliographic Details
- Publisher:
- Institute of Electrical and Electronics Engineers Publisher's website
- Journal:
- IEEE Transactions on Robotics Journal website
- Volume:
- 37
- Issue:
- 4
- Pages:
- 1051-1064
- Publication date:
- 2020-12-29
- Acceptance date:
- 2020-11-24
- DOI:
- EISSN:
-
1941-0468
- ISSN:
-
1552-3098
Item Description
- Language:
- English
- Keywords:
- Pubs id:
-
1156957
- Local pid:
- pubs:1156957
- Deposit date:
- 2021-01-18
Terms of use
- Copyright holder:
- Institute of Electrical and Electronics Engineers
- Copyright date:
- 2020
- Rights statement:
- © 2020 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
- Notes:
- This is the accepted manuscript version of the article. The final version is available online from the Institute of Electrical and Electronics Engineers at: https://doi.org/10.1109/TRO.2020.3043717
Metrics
If you are the owner of this record, you can report an update to it here: Report update to this record