{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T17:11:22Z","timestamp":1773249082180,"version":"3.50.1"},"reference-count":28,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T00:00:00Z","timestamp":1625097600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000289","name":"Cancer Research United Kingdom","doi-asserted-by":"publisher","award":["C24524\/A30038"],"award-info":[{"award-number":["C24524\/A30038"]}],"id":[{"id":"10.13039\/501100000289","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/R513179\/1"],"award-info":[{"award-number":["EP\/R513179\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Soft tactile sensors are an attractive solution when robotic systems must interact with delicate objects in unstructured and obscured environments, such as most medical robotics applications. The soft nature of such a system increases both comfort and safety, while the addition of simultaneous soft active actuation provides additional features and can also improve the sensing range. This paper presents the development of a compact soft tactile sensor which is able to measure the profile of objects and, through an integrated pneumatic system, actuate and change the effective stiffness of its tactile contact surface. We report experimental results which demonstrate the sensor\u2019s ability to detect lumps on the surface of objects or embedded within a silicone matrix. These results show the potential of this approach as a versatile method of tactile sensing with potential application in medical diagnosis.<\/jats:p>","DOI":"10.3389\/frobt.2021.672315","type":"journal-article","created":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T13:22:04Z","timestamp":1625145724000},"update-policy":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":12,"title":["Optical-Tactile Sensor for Lump Detection Using Pneumatic Control"],"prefix":"10.3389","volume":"8","author":[{"given":"Jonathan","family":"Bewley","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"George P.","family":"Jenkinson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antonia","family":"Tzemanaki","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2021,7,1]]},"reference":[{"key":"B1","volume-title":"Bates\u2019 Guide to Physical Examination and History-Taking","author":"Bickley","year":"2013"},{"key":"B2","first-page":"122","article-title":"The OpenCV Library","volume":"25","author":"Bradski","year":"2000","journal-title":"Dr. Dobb\u2019s J. Softw. Tools"},{"key":"B3","doi-asserted-by":"publisher","first-page":"948","DOI":"10.3390\/s18040948","article-title":"Recent Progress in Technologies for Tactile Sensors","volume":"18","author":"Chi","year":"2018","journal-title":"Sensors"},{"key":"B4","first-page":"2752","article-title":"Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations","author":"Cramphorn","year":"2018"},{"key":"B5","doi-asserted-by":"publisher","first-page":"1275","DOI":"10.1109\/TMI.2008.922192","article-title":"Mechanical Imaging of the Breast","volume":"27","author":"Egorov","year":"2008","journal-title":"IEEE Trans. Med. Imaging"},{"key":"B6","doi-asserted-by":"publisher","first-page":"94","DOI":"10.1186\/s12938-017-0390-3","article-title":"Video-tactile Pneumatic Sensor for Soft Tissue Elastic Modulus Estimation","volume":"16","author":"Gubenko","year":"2017","journal-title":"Biomed. Eng. Online"},{"key":"B7","first-page":"21","article-title":"Human vs. Robotic Tactile Sensing: Detecting Lumps in Soft Tissue","author":"Gwilliam","year":"2010"},{"key":"B8","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TRO.2020.3043717","article-title":"An Abdominal Phantom with Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training","author":"He","year":"","journal-title":"IEEE Trans. Robotics"},{"key":"B9","doi-asserted-by":"publisher","first-page":"2714","DOI":"10.1109\/LRA.2020.2972851","article-title":"Soft Fingertips with Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects","volume":"5","author":"He","year":"","journal-title":"IEEE Robotics Automation Lett."},{"key":"B10","first-page":"38","article-title":"Wormtip: An Invertebrate Inspired Active Tactile Imaging Pneumostat","volume-title":"Biomimetic and Biohybrid Systems. Living Machines 2015. Lecture Notes in Computer Science","author":"Hinitt","year":"2015"},{"key":"B11","first-page":"8443","article-title":"A Depth Camera-Based Soft Fingertip Device for Contact Region Estimation and Perception-Action Coupling","author":"Huang","year":"2019"},{"key":"B12","doi-asserted-by":"crossref","first-page":"299","DOI":"10.1007\/978-3-030-63486-5_31","article-title":"A Pressure Controlled Membrane Mechanism for Optimising Haptic Sensing","volume-title":"Towards Autonomous Robotic Systems","author":"Jenkinson","year":"2020"},{"key":"B13","doi-asserted-by":"publisher","first-page":"2101","DOI":"10.1109\/LRA.2019.2899192","article-title":"From Pixels to Percepts: Highly Robust Edge Perception and Contour Following Using Deep Learning and an Optical Biomimetic Tactile Sensor","volume":"4","author":"Lepora","year":"2018","journal-title":"arXiv"},{"key":"B14","first-page":"6437","article-title":"Towards a Soft Fingertip with Integrated Sensing and Actuation","author":"McInroe","year":"2018"},{"key":"B15","doi-asserted-by":"publisher","first-page":"210","DOI":"10.3109\/13645706.2011.602087","article-title":"A Novel Robotic Tactile Mass Detector with Application in Clinical Breast Examination","volume":"21","author":"Mojra","year":"2012","journal-title":"Minimally Invasive Ther. Allied Tech."},{"key":"B16","doi-asserted-by":"publisher","first-page":"2825","DOI":"10.5555\/1953048.2078195","article-title":"Scikit-learn: Machine Learning in Python","volume":"12","author":"Pedregosa","year":"2011","journal-title":"J. Machine Learn. Res."},{"key":"B17","doi-asserted-by":"publisher","first-page":"1700015","DOI":"10.1002\/prca.201700015","article-title":"Nipple Aspirate Fluid\u2013\u2013a liquid biopsy for diagnosing breast health","volume":"11","author":"Shaheed","year":"2017","journal-title":"PROTEOMICS\u2013Clinical Appl."},{"key":"B18","doi-asserted-by":"publisher","first-page":"1424","DOI":"10.3390\/s19183933","article-title":"Tactile image sensors employing camera: A review","volume":"19","author":"Shimonomura","year":"2019","journal-title":"Sensors"},{"key":"B19","doi-asserted-by":"publisher","first-page":"1707035","DOI":"10.1002\/adma.201707035","article-title":"Soft robotic grippers","volume":"30","author":"Shintake","year":"2018","journal-title":"Adv. Mater."},{"key":"B20","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1016\/j.sna.2012.02.051","article-title":"A review of tactile sensing technologies with applications in biomedical engineering","volume":"179","author":"Tiwana","year":"2012","journal-title":"Sensors Actuators A: Phys."},{"key":"B21","volume-title":"Python Data Science Handbook: Essential Tools for Working with Data","author":"VanderPlas","year":"2016"},{"key":"B22","doi-asserted-by":"publisher","first-page":"261","DOI":"10.1038\/s41592-019-0686-2","article-title":"SciPy 1.0: Fundamental Algorithms for Scientific Computing in Python","volume":"17","author":"Virtanen","year":"2020","journal-title":"Nat. Methods"},{"key":"B23","doi-asserted-by":"publisher","first-page":"216","DOI":"10.1089\/soro.2017.0052","article-title":"The tactip family: Soft optical tactile sensors with 3d-printed biomimetic morphologies","volume":"5","author":"Ward-Cherrier","year":"2018","journal-title":"Soft Robotics"},{"key":"B24","doi-asserted-by":"publisher","first-page":"e12580","DOI":"10.1111\/ecc.12580","article-title":"Client and practitioner perspectives on the screening mammography experience","volume":"26","author":"Whelehan","year":"2017","journal-title":"Eur. J. Cancer Care"},{"key":"B25","first-page":"160","article-title":"Tactip \u2013\u2013 tactile fingertip device, challenges in reduction of size to ready for robot hand integration","author":"Winstone","year":"2012"},{"key":"B26","doi-asserted-by":"publisher","first-page":"055034","DOI":"10.1088\/1361-665x\/ab1176","article-title":"Soft-smart robotic end effectors with sensing, actuation, and gripping capabilities","volume":"28","author":"Xiang","year":"2019","journal-title":"Smart Mater. Structures"},{"key":"B27","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/s21061970","article-title":"Adjustable compliance soft sensor via an elastically inflatable fluidic dome","volume":"21","author":"Zhang","year":"2021","journal-title":"Sensors"},{"key":"B28","doi-asserted-by":"publisher","first-page":"2653","DOI":"10.3390\/s17112653","article-title":"Novel tactile sensor technology and smart tactile sensing systems: A review","volume":"17","author":"Zou","year":"2017","journal-title":"Sensors"}],"container-title":["Frontiers in Robotics and AI"],"original-title":[],"link":[{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.frontiersin.org\/articles\/10.3389\/frobt.2021.672315\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T13:22:08Z","timestamp":1625145728000},"score":1,"resource":{"primary":{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.frontiersin.org\/articles\/10.3389\/frobt.2021.672315\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,7,1]]},"references-count":28,"alternative-id":["10.3389\/frobt.2021.672315"],"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.3389\/frobt.2021.672315","relation":{},"ISSN":["2296-9144"],"issn-type":[{"value":"2296-9144","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,7,1]]},"article-number":"672315"}}