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

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dc.contributor.authorSyrymova, Togzhan
dc.date.accessioned2022-09-21T09:35:07Z
dc.date.available2022-09-21T09:35:07Z
dc.date.issued2022-04
dc.description.abstractBreast 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.identifier.citationSyrymova, T. (2022). TACTILE GLOVE FOR BREAST LUMP DETECTION AND HANDOVER-ORIENTED OBJECT CLASSIFICATION (Unpublished master's thesis). Nazarbayev University, Nur-Sultan, Kazakhstanen_US
dc.identifier.urihttp://nur.nu.edu.kz/handle/123456789/6727
dc.language.isoenen_US
dc.publisherNazarbayev University School of Engineering and Digital Sciencesen_US
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjectResearch Subject Categories::TECHNOLOGYen_US
dc.subjectType of access: Gated Accessen_US
dc.subjectRobot Operating Systemen_US
dc.subjectROSen_US
dc.subjectbreast lump detectionen_US
dc.subjecttactile gloveen_US
dc.titleTACTILE GLOVE FOR BREAST LUMP DETECTION AND HANDOVER-ORIENTED OBJECT CLASSIFICATIONen_US
dc.typeMaster's thesisen_US
workflow.import.sourcescience

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