Proposal of friction and force transmission compensator for cancer hardness measurement system using flexible actuator

Kenji Ogawa, Béchet Francis, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

The rate of death by cancer is higher than any other deseases in Japan. In order to prevent the number of death by cancer from increasing, it is necessary to find a solution as soon as possible. However, nowaday's diagnosis technology has a limitation in cancer detection. Therefore, some kinds of cancer cannot be detected. In addition, diagnosis is done only qualitatively by looking the condition of organs. From above reasons, quantitative cancer hardness measurement system based on palpation has been developed. However, it is difficult to measure the cancer hardness collectly because of force attenuation. Therefore, it is necessary to consider compensation methods. In this paper, friction and force transmission compensator for cancer hardeness measurement system is proposed. Fricton is compensated in real time by a linear square method and force transmission is compensated by a mapping function. The efficiency of the proposal is verified experimentally.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1250-1255
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14/6/114/6/4

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Ogawa, K., Francis, B., & Ohnishi, K. (2014). Proposal of friction and force transmission compensator for cancer hardness measurement system using flexible actuator. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 1250-1255). [6864793] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864793