Apparatus and method for surface and subsurface tactile sensation imaging

A method for calculating an elasticity of an object using a tactile sensor, the method comprising:

• capturing a first image of the object with the tactile sensor comprising:
• an optical waveguide comprised of at least a flexible first portion that is at least partially transparent so as to permit light to pass out of the first portion;
• at least one source of light configured to direct light into the optical waveguide;
• and
• a light sensor facing the optical waveguide and configured to generate signals from light scattered out of the optical waveguide,
• wherein the waveguide is configured so that at least some of the light directed into the optical waveguide is scattered out of the first portion when the first portion is deformed, and wherein the first portion is deformed by the tactile sensor being pressed against the object with a first force applied to the object;
• capturing a second image of the object with the tactile sensor wherein the first portion is deformed by the tactile sensor being pressed against the object with a second force applied to the object;
• calculating a stress placed on the object in the first image and a stress placed on the object in the second image;
• calculating a strain placed on the object using the first image and the second image;
• and
• calculating an elasticity of the object.

A tactile sensor for generating an image of an object, the tactile sensor comprising:

• an optical waveguide comprised of at least a flexible first portion that is at least partially transparent so as to permit light to pass out of the first portion;
• at least two sources of light configured to direct light into the optical waveguide, one of the light sources being mounted to a side of the waveguide opposite from the other light source such that when activated each of the light sources directs light into the waveguide toward the other light source;
• a light sensor facing the optical waveguide and configured to generate signals from light scattered out of the optical waveguide;
• and
• a controller configured to display an image of the object based on the signals from the light sensor,
• wherein the waveguide is configured so that at least some of the light directed into the optical waveguide is scattered out of the first portion when the first portion is deformed, and wherein the first portion is deformed by the tactile sensor being pressed against the object.

A tactile sensor for generating an image of an object, the tactile sensor comprising:

• an optical waveguide comprised of at least a first portion that is flexible and a second portion that is adjacent to the first portion and provides the optical waveguide with rigidity, wherein at least part of the first portion is transparent so as to permit light to pass out of the first portion and into the second portion;
• at least one source of light configured to direct light into the optical waveguide;
• and
• a light sensor facing the optical waveguide and configured to generate signals from light scattered out of the optical waveguide,
• wherein the waveguide is configured so that at least some of the light directed into the optical waveguide is scattered out of the first portion when the first portion is deformed, and wherein the first portion is deformed by the tactile sensor being pressed against the object
• further comprising a controller configured to determine and display at least one of an elasticity of the object, a hardness of the object, a Young's Modulus of the object, a shear modulus of the object, and a malignancy determination of the object.