Development of Tactile Mapping system for the stiffness characterization of tissue slice using novel tactile sensing technology

In this study, we modified our previously developed Micro-Tactile Sensor (MTS) not only to measure elasticity with high sensitivity but also to detect the instant of contact. First, modal analysis of the MTS was undertaken using finite element analysis to find a frequency where longitudinal and rotational vibration modes exist. Second, the MTS oscillated using these two types of vibration, and its basic performance was assessed. While the resonance mode of major longitudinal vibration shifted in an indentation and elasticity dependent manner, a disappearance of the rotational vibration upon contact resulted in abrupt change in resonance frequency which was used to signal touch detection. Last, using the modified MTS, we developed Tactile Mapping technology and used it to obtain a contour image and topographical Young's modulus information for a slice of porcine heart with coronary artery.