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Non-Contact Stiffness Imager

Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima 739-8527, JAPAN, kawahara{at}hfl.hiroshima-u.ac.jp

Shinji Tanaka

Graduate School of Biomedical Science, Hiroshima University Hospital, Hiroshima 734-8551, JAPAN, colon{at}hfl.hiroshima-u.ac.jp

Makoto Kaneko

Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima 739-8527, JAPAN, kaneko{at}hfl.hiroshima-u.ac.jp

This paper proposes a Non-Contact Stiffness Imager that can enhance the definition of a stiff point by imparting a fluid force to the environment. The force is applied to the environment at a local point and displacement of the environment is measured in the surrounding area. We first demonstrate the basic idea by utilizing an experimental system composed of an air supply system and a scanning type line laser sensor. Then we apply the idea to an endoscope camera capable of detecting a stiff point.

Key Words: stiffness imager • non-contact sensing • fluid force

The International Journal of Robotics Research, Vol. 25, No. 5-6, 537-549 (2006)
DOI: 10.1177/0278364906065826


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