In the past few years, soft robotics has rapidly become an emerging research topic, opening
new possibilities for addressing real‐world tasks. Perception can enable robots to effectively …

Touch sensing can help robots understand their surrounding environment, and in particular
the objects they interact with. To this end, roboticists have, in the last few decades …

With the successful uptake and inclusion of robotic systems in minimally invasive surgery
and with the increasing application of robotic surgery (RS) in numerous surgical specialities …

Reliable identification of soft tissue material parameters is frequently required in a variety of
applications, particularly for biomechanical simulations using finite element analysis (FEA) …

The ability to interact safely with the environment is known as one of the major advantages
of soft robots (SRs). Due to their low material stiffness, these continuously deformable robots …

Localizing tumors and measuring tissue mechanical properties can aid in surgical planning
and evaluating the progression of disease. In this paper, autonomous robotic palpation with …

Although palpation has been successfully employed for centuries to assess soft tissue
quality, it is a subjective test, and is therefore qualitative and depends on the experience of …

This paper presents a novel tactile probe head designed for tissue palpation during
minimally invasive surgery (MIS). The probe head uses fiber optics and consists of 14 tactile …

This paper proposes a multi-fingered palpation method which employs pneumatic haptic
feedback actuators allowing users to experience haptic sensations at multiple fingers while …

In this study, we have fabricated a miniaturized piezoelectric tactile sensor (Ø= 1.4 mm) that
is suitable for mounting on an endoscope to detect submucosal tumors. The sensing …