TY - GEN
T1 - Proposal of friction and force transmission compensator for cancer hardness measurement system using flexible actuator
AU - Ogawa, Kenji
AU - Francis, Béchet
AU - Ohnishi, Kouhei
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84907368498&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84907368498&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2014.6864793
DO - 10.1109/ISIE.2014.6864793
M3 - Conference contribution
AN - SCOPUS:84907368498
SN - 9781479923991
T3 - IEEE International Symposium on Industrial Electronics
SP - 1250
EP - 1255
BT - Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Y2 - 1 June 2014 through 4 June 2014
ER -
