F-2-2 Development of a Haptic Sensor System for Simultaneously Measuring Roughness and Stiffness

Skin is considered to be the reflection of one's health,and therefore,monitoring skin condition is important in diagnosing an illness.Palpation is a physical examination,which involves examination of the skin condition by using feeling of touch.The issue associated with the palpation is that it is subjective and therefore causes difficulties such as repetition and exchange of information.To deal with this,sensor systems capable of measuring the skin condition in various parts of the body are demanded.The previously developed sensor system was able to measure both roughness and stiffness of the human skin but not simultaneously.In this paper,a handheld haptic device,focusing on simultaneously measuring the roughness and stiffness of the human skin is developed using a PolyVinylidene DiFluoride(PVDF) film and strain gauges as sensory elements.