In this section, some tests were designed to compare the capabilities of TIS G1 and TIS G2 in characterizing an inclusion embedded in the soft tissue. The models are developed using spherical targets and PVC tissue phantom with base, depth, and intermediate layers....
Introduction In the literature, the existing tactile imaging sensor system (TIS G1) has proven to be successful in capturing tactile images and measuring mechanical properties (Lee and Won, 2011). However, the dimensions of PDMS in TIS are 2.3cm × 2.0cm × 1.2cm, which...
