A Robotic System for Soft Tissue Characterization

• 영문명: A Robotic System for Soft Tissue Characterization
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: P. Vacalebri R. Lazzarini S. Roccella F. Vecchi M. C. Carrozza M. Zecca P. Dario
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.4 No.2, 13~17쪽, 전체 5쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2003.06.01

영문 초록

  A miniature robotic system has been designed and fabricated to perform in vivo mechanical characterization of soft tissues. The tissue tester employs a stepper motor, which is controlled using micro-stepping techniques to prevent irregular rotation of motor shaft at low speeds. There is also a load cell to measure the reaction force of the tissue under test. At the end of tests session, data could be post elaborated on a PC with special software that reconstructs the force-displacement curves of the tissues being tested. Position and rate feedback are implemented with a digital encoder to minimize errors in motor control during the evaluation of typical viscoelastic phenomena of biological tissues. Calibration tests indicate that the force-displacement curves of the miniature robotic indenter are consistent with that obtained using an ordinary universal testing machine.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. MATERIALS AND METHODS
Ⅲ. EXPERIMENTAL RESULTS
Ⅳ. CONCLUSIONS
ACKNOWLEDGEMENT
REFERENCES