Multimodal Sensing for Robot-Assisted Sub-Tissue Feature Detection in Physiotherapy Palpation

• URL: http://arxiv.org/abs/2512.20992v2
• Date: Mon, 02 Mar 2026 23:15:24 GMT
• Title: Multimodal Sensing for Robot-Assisted Sub-Tissue Feature Detection in Physiotherapy Palpation
• Abstract summary: We present a compact multimodal sensor that integrates high-resolution vision-based tactile imaging with a 6-axis force-torque sensor.<n>Preliminary results show that combining tactile and force modalities enables robust subsurface feature detection and controlled robotic palpation.
• Score: 6.494549465524354
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based tactile imaging with a 6-axis force-torque sensor. In experiments on silicone phantoms with diverse subsurface tendon geometries, force signals alone frequently produce ambiguous responses, while tactile images reveal clear structural differences in presence, diameter, depth, crossings, and multiplicity. Yet accurate force tracking remains essential for maintaining safe, consistent contact during physiotherapeutic interaction. Preliminary results show that combining tactile and force modalities enables robust subsurface feature detection and controlled robotic palpation.

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