A Hybrid Soft Haptic Display for Rendering Lump Stiffness in Remote Palpation
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arXiv
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| Format: | Preprint |
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2026
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| author | Yu, Pijuan Kawazoe, Anzu Urquhart, Alexis Ferris, Thomas K. Hipwell, M. Cynthia Friesen, Rebecca F. |
| author_facet | Yu, Pijuan Kawazoe, Anzu Urquhart, Alexis Ferris, Thomas K. Hipwell, M. Cynthia Friesen, Rebecca F. |
| contents | Remote palpation enables noninvasive tissue examination in telemedicine, yet current tactile displays often lack the fidelity to convey both large-scale forces and fine spatial details. This study introduces a hybrid fingertip display comprising a rigid platform and a $4\times4$ soft pneumatic tactile display (4.93 mm displacement and 1.175 N per single pneumatic chamber) to render a hard lump beneath soft tissue. This study compares three rendering strategies: a Platform-Only baseline that renders the total interaction force; a Hybrid A (Position + Force Feedback) strategy that adds a dynamic, real-time soft spatial cue; and a Hybrid B (Position + Preloaded Stiffness Feedback) strategy that provides a constant, pre-calculated soft spatial cue.
In a 12-participant lump detection study, both hybrid methods dramatically improved accuracy over the Platform-Only baseline (from 50\% to over 95\%). While the Hybrid B was highlighted qualitatively for realism, its event-based averaging is expected to increase interaction latency in real-time operation. This suggests a trade-off between perceived lump realism and real-time responsiveness, such that rendering choices that enhance realism may conflict with those that minimize latency. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_11807 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Hybrid Soft Haptic Display for Rendering Lump Stiffness in Remote Palpation Yu, Pijuan Kawazoe, Anzu Urquhart, Alexis Ferris, Thomas K. Hipwell, M. Cynthia Friesen, Rebecca F. Human-Computer Interaction Robotics Remote palpation enables noninvasive tissue examination in telemedicine, yet current tactile displays often lack the fidelity to convey both large-scale forces and fine spatial details. This study introduces a hybrid fingertip display comprising a rigid platform and a $4\times4$ soft pneumatic tactile display (4.93 mm displacement and 1.175 N per single pneumatic chamber) to render a hard lump beneath soft tissue. This study compares three rendering strategies: a Platform-Only baseline that renders the total interaction force; a Hybrid A (Position + Force Feedback) strategy that adds a dynamic, real-time soft spatial cue; and a Hybrid B (Position + Preloaded Stiffness Feedback) strategy that provides a constant, pre-calculated soft spatial cue. In a 12-participant lump detection study, both hybrid methods dramatically improved accuracy over the Platform-Only baseline (from 50\% to over 95\%). While the Hybrid B was highlighted qualitatively for realism, its event-based averaging is expected to increase interaction latency in real-time operation. This suggests a trade-off between perceived lump realism and real-time responsiveness, such that rendering choices that enhance realism may conflict with those that minimize latency. |
| title | A Hybrid Soft Haptic Display for Rendering Lump Stiffness in Remote Palpation |
| topic | Human-Computer Interaction Robotics |
| url | https://arxiv.org/abs/2601.11807 |