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TACTILE GLOVE FOR BREAST LUMP DETECTION AND HANDOVER-ORIENTED OBJECT CLASSIFICATION

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dc.contributor.author Syrymova, Togzhan
dc.date.accessioned 2022-09-21T09:35:07Z
dc.date.available 2022-09-21T09:35:07Z
dc.date.issued 2022-04
dc.identifier.citation Syrymova, T. (2022). TACTILE GLOVE FOR BREAST LUMP DETECTION AND HANDOVER-ORIENTED OBJECT CLASSIFICATION (Unpublished master's thesis). Nazarbayev University, Nur-Sultan, Kazakhstan en_US
dc.identifier.uri http://nur.nu.edu.kz/handle/123456789/6727
dc.description.abstract Breast cancer is one of the most common causes of mortality among women. Inspection of lumps in the breasts by palpation is the key to early detection and leads to a higher survival rate. Likewise, transferring an object between a robot and operator is one of the milestone problems that can be solved with proposed prior-to-pass classification-driven handover pipeline. Therefore, in this work, I present a flexible fabric-based and soft wearable tactile glove interfaced to the Robot Operating System (ROS) for detecting the lumps within custom-made breast prototypes and soft/rigid object classification prior to handover. The glove can be donned by the human hand or an anthropomorphic robot hand, and capable of measuring the force and mechanical vibrations at the points of the contact and finger motions while squeezing the breast models. Tactile glove incorporates 30 barometric pressure sensors with 1 kPa accuracy, five proprioceptive sensors, and two accelerometers with 0.1 g accuracy. The layered construction provides a pleasant look and protects the delicate wirings. en_US
dc.language.iso en en_US
dc.publisher Nazarbayev University School of Engineering and Digital Sciences en_US
dc.rights Attribution-NonCommercial-ShareAlike 3.0 United States *
dc.rights.uri http://creativecommons.org/licenses/by-nc-sa/3.0/us/ *
dc.subject Research Subject Categories::TECHNOLOGY en_US
dc.subject Type of access: Gated Access en_US
dc.subject Robot Operating System en_US
dc.subject ROS en_US
dc.subject breast lump detection en_US
dc.subject tactile glove en_US
dc.title TACTILE GLOVE FOR BREAST LUMP DETECTION AND HANDOVER-ORIENTED OBJECT CLASSIFICATION en_US
dc.type Master's thesis en_US
workflow.import.source science


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