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Development and Validation of a Wearable Softness Sensor Based on Fingernail Deformation and an Inertial Measurement
1Graduate School of Human Development and Environment, Kobe University, Kobe, JPN.
Cureus
|April 2, 2026
Summary
This study introduces a wearable softness sensor for medical training. The device quantifies palpation force and indentation without hindering tactile feel, enabling objective skill assessment.
Area of Science:
- Biomedical Engineering
- Medical Education Technology
- Sensory Science
Background:
- Palpation is vital for medical diagnosis but subjective, challenging objective training.
- Existing fingertip sensors impede essential tactile sensation during palpation.
- Need for a non-obstructive sensor for quantitative palpation assessment exists.
Purpose of the Study:
- Develop and evaluate a wearable softness sensor for medical education.
- Ensure the sensor does not obstruct natural tactile sensation during palpation.
- Enable quantitative evaluation of palpation skills.
Main Methods:
- Developed a system combining fingernail strain for force estimation and an inertial measurement unit (IMU) for indentation depth.
- Conducted accuracy verification for force and displacement estimation.
- Performed a softness discrimination experiment using sponges of varying stiffness.
Main Results:
- Achieved high accuracy in fingertip force (RMSE: 0.17 N) and displacement (RMSE: 0.75 mm) estimation.
- Successfully discriminated stiffness between three sponge types.
- Estimated softness values showed strong agreement with force gauge measurements.
Conclusions:
- The developed sensor quantifies object softness without impeding natural palpation.
- This technology offers potential for objective palpation skill evaluation.
- The sensor can serve as an effective training device in medical education.
