Lump Detection - Tactile Sensing and Displays - page 117

Figure 6.3 The pressure distribution at the contact surface when the lump radius was increased
from R =1to4mmand P in = 5 kPa
and thickness of tissue, respectively. For each ratio, the pressure distribution at the contact
surface was calculated and is shown in Figure 6.3. In these simulations, the load was
applied in the form of displacement (strain). The surface nodes were coupled together and
a known displacement (e.g., U y = 1 or 4 mm) was applied to the top surface of the tissue.
The center of the lump was considered to be in the middle of the tissue. From the
demonstrated results, shown in Figure 6.4, it can be deduced that with the increase of
lump size, the maximum pressure value increases almost linearly for relatively small and
Figure 6.4 The pressure distribution at the contact surface when the lump radius was increased
from R =1to4mm