The Development and Application of a Robot Type Measuring Device Equipped with a Tactile Function.

摘要

Based on a video taped study of human hand movements during palpation, a robot type measuring device was developed with tactile functions designed to discriminate precise dynamic properties of human skin without imposing posture restrictions on the subject. The method measures the stress response of the skin when it is depressed by a single probe according to a designated strain-time program.The device consists of a probe mounted signal detector in which a strain gauge applied as a tactile sensor detects stress from the probe, a moving vertical articulated arm which allows the necessary degree of freedom for measurement, and a micro computer which drives the entire system by a feedback loop generated while analyzing the output signals received from the sensor probe.In the initial experiments the instrument measured the dynamic properties of several pliant silicone rubber devices closely resembling human skin in terms of softness. The physical quantities derived from the detected stress, on the other hand, were compared to pair tested, human pshychological evaluations of the softness or elasticity of the same samples.Subsequent experiments confirmed the reproducibility of the measuring methods when they were applied to human cheeks. Correlations of softness and elasticity were obtained between the robot device and practical palpations. An “Softening Effect” was confirmed on measuring cheeks before and after facial treatment.These experiments suggest the potential value of a palpation robot following the successful realization of the analysis of the stress changes and dynamic properties of human skin through an obiective process.