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

Kenji Ogawa; Béchet Francis; Kouhei Ohnishi

doi:10.1109/ISIE.2014.6864793

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 proceeding › Conference 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 language	English
Title of host publication	Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1250-1255
Number of pages	6
ISBN (Print)	9781479923991
DOIs	https://doi.org/10.1109/ISIE.2014.6864793
Publication status	Published - 2014
Externally published	Yes
Event	2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey Duration: 2014 Jun 1 → 2014 Jun 4

Publication series

Name	IEEE International Symposium on Industrial Electronics

Other

Other	2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
Country/Territory	Turkey
City	Istanbul
Period	14/6/1 → 14/6/4

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ISIE.2014.6864793

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). Article 6864793 (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864793

Proposal of friction and force transmission compensator for cancer hardness measurement system using flexible actuator. / Ogawa, Kenji; Francis, Béchet; Ohnishi, Kouhei.
Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1250-1255 6864793 (IEEE International Symposium on Industrial Electronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 6864793, IEEE International Symposium on Industrial Electronics, Institute of Electrical and Electronics Engineers Inc., pp. 1250-1255, 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014, Istanbul, Turkey, 14/6/1. https://doi.org/10.1109/ISIE.2014.6864793

Ogawa K, Francis B, Ohnishi K. 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. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1250-1255. 6864793. (IEEE International Symposium on Industrial Electronics). doi: 10.1109/ISIE.2014.6864793

Ogawa, Kenji ; Francis, Béchet ; Ohnishi, Kouhei. / Proposal of friction and force transmission compensator for cancer hardness measurement system using flexible actuator. Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1250-1255 (IEEE International Symposium on Industrial Electronics).

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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.",

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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.

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

Abstract

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