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Abstract
In this paper we present IRIS, a manipulator that is capable of applying contact forces when interacting with an object/stimulus, in increments in the order of mN up to 6N at 5 radial locations simultaneously. IRIS is based upon the contractual mechanism of its namesake: the iris diaphragm often found in cameras. Complete coverage of the surface of a realistic breast phantom is demonstrated using this contractual mechanism combined with control over the angle of incidence between the sensors and the stimulus using sim-to-real concepts. A significant amount of the complexity in control is outsourced to the morphology and compliance of the mechanism. The manipulator demonstrates the technological feasibility of a robotic clinical breast examination.
Original language | English |
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Publication status | Published - 31 Aug 2023 |
Event | 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) - Paradise Hotel, Busan, Korea, Republic of Duration: 28 Aug 2023 → 31 Aug 2023 Conference number: 32 https://ro-man2023.org/main |
Conference
Conference | 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) |
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Abbreviated title | IEEE RO-MAN 2023 |
Country/Territory | Korea, Republic of |
City | Busan |
Period | 28/08/23 → 31/08/23 |
Internet address |
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Dive into the research topics of 'A robotIc Radial palpatIon mechaniSm for breast examination (IRIS)'. Together they form a unique fingerprint.Projects
- 1 Finished
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ARTEMIS: 8036 Cancer Research UK via Imperial ARTEMIS
Tzemanaki, A. (Principal Investigator), Jenkinson, G. P. (Student) & Taiwo, E. T. (Researcher)
1/04/20 → 31/12/21
Project: Research