Modeling and experimental testing of three-tip configuration tactile sensor for compensating the error due to soft tissue surface irregularities during stiffness detection

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• 作者：Ahmed Fouly^a ; ^b ; ^{Ahmed.Fouly@ejust.edu.eg} ; Ahmed M.R. FathEl-Bab^a ; ^c ; ^{Ahmed.Rashad@ejust.edu.eg} ; Mohamed N.A. Nasr^d ; ^{m.nasr@alexu.edu.eg} ; A.A. Abouelsoud^a ; ^e ; ^{ahmed.ali@ejust.edu.egi}
• 关键词：Tactile sensing ; Soft tissue stiffness ; Tissue stiffness measurement ; Tissue compliance detection
• 刊名：Measurement
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：98
• 期：Complete
• 页码：112-122
• 全文大小：4173 K
• 卷排序：98

文摘

Error in the two-spring sensor is a result of an inclination angle in the tissue. 3° inclination angle resulting in an error more than 100%. Tree-spring sensor output is stable with a maximum error 0.2%.