10.1371/journal.pone.0171706.g004
Jelizaveta Konstantinova
Jelizaveta
Konstantinova
Giuseppe Cotugno
Giuseppe
Cotugno
Prokar Dasgupta
Prokar
Dasgupta
Kaspar Althoefer
Kaspar
Althoefer
Thrishantha Nanayakkara
Thrishantha
Nanayakkara
Constraints of the finger motion during single point palpation.
Public Library of Science
2017
order reactive autoregressive model
Palpation force modulation strategies
indentation tip
palpation strategy
22.3 Hz
tissue palpation
stiffness perception
stiffness parameters
force control pattern
force modulation strategies
silicone phantoms show
tissue organs
results show
force control
Experimental results
2017-02-15 20:04:53
Figure
https://plos.figshare.com/articles/figure/Constraints_of_the_finger_motion_during_single_point_palpation_/4656688
<p>For <i>F</i><sub><i>x</i></sub> (direction is chosen for this example), the finger can move freely in both directions, but in the case of <i>F</i><sub><i>y</i></sub> (direction is chosen for this example), the motion is limited by a finger joint.</p>