Modeling the dynamics of the human thigh for a realistic echographic simulator with force feedback

Abstract

This paper proposes a mass-springmo del of the dynamics of a human thigh based on real data acquired. Using a force sensor mounted on a robot arm the deformation of the thigh with respect to an external force is measured. The stress-strain curves we obtained exhibit a strong non-linearity due to the incompressibility of the human tissue. Hence, we propose a two-layer model of the thigh using both linear and non-linear visco-elastic springs to simulate the observed behaviour. The parameters of the springs are estimated using a least-squares minimisation method. Finally, we discuss the feasibility of our model as part of a fully functional simulator coupled with a haptic interface to train practitioners for echographic exams.