Tensometry of soft biological tissues with manipulation robot

A method of automating the process of controlling strain gauge measurements of parameters of elastic objects using a manipulation robot is considered. The subjects of the study are elastic objects whose structure is multilayered, and individual layers have the properties of heterogeneity and nonlinearity. An example of such objects is soft biological tissue. Currently available diagnostic tools have insufficient accuracy because of the fact that the measurement results significantly affected by the errors arising from the explorer's errors during automated diagnostics and accidental interference on the part of the research object. Strain gauge measurements relate to the subject area of assessment of the state of elastic structures. The paper discusses the implementation of the algorithm for controlling the procedure of tensometric measurement of soft biological tissues, proposes engineering solutions to eliminate these drawbacks. Elimination of inaccuracies in the development of force and speed tasks causing the greatest errors achieved by using a manipulation robotics equipped with a strain gauge measurement device. A prototype of a robotic system equipped with a power sensor, a compensation mechanism and a software control algorithm is given. The results of the study are presented in the form of characteristic dependences of forces on displacements.