Indentation technique for the mechanical evaluation of soft materials like biological tissue is discussed in order to develop the medical device of palpation. Here, the Hertzian contact theory is functionally extended to measure the mechanical characteristics of thin, viscous and fragile tissue, and then it is also modified to evaluate the elasticity and friction of the soft materials. The modification of the contact theory is applied to manufacture a trial device experimentally, and its availability is studied by using the FE analysis with the boundary condition of contact and friction.

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