PALLA: Palpation Suit for Breast Cancer Examination

At a time when communication is advancing rapidly, sight and hearing have progressed to the extent that we can witness or hear events occurring on the other side of the world. However, tactile communication, equally crucial, has not reached the same level of advancement due to its subtlety and complexity, still harboring gaps that require further knowledge for development. The PALLA breast cancer examination tool, presented in this research, aims not only to address these gaps but also to alleviate concerns for women uncomfortable with direct breast contact during examinations. Various sensor technologies, including pressure generation and mass detection to monitor lymph nodes and breasts, along with surface abnormality sensors, have been employed to support the development of this tool, encouraging individuals to undergo breast cancer examinations promptly, given its status as the leading cause of female cancer mortality. In addition to the innovative features of the PALLA breast cancer examination tool, the evaluation results underscore its significant potential impact on improving breast cancer examinations. Finally, we conclude the research and give the future research direction.