An advanced robot system for automated diagnostic tasks throughpalpation |
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Authors: | Dario P. Bergamasco M. |
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Affiliation: | Centro E Piaggio, Pisa Univ.; |
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Abstract: | An approach to the design of a robot system capable of executing complex sensory-motor sequences aimed at gathering data useful for diagnostic purposes is presented. The main features of such a robot system are discussed, and its possible integration in an advanced, interactive expert system for medical diagnosis is considered. As an example of implementation of the concept of a robot system for automated diagnostic tasks, the design characteristics of a tendon-actuated, anthropomorphic finger, incorporating force and position sensors for low-level compliant motion control and skin-like sensors for tactile perception, are outlined. The hierarchical control architecture devised for managing some different diagnostic sensory-motor sequences (subroutines) is also presented |
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