Tissue examination by hand remains an essential technique in clinical practice. The
effective application depends on skills in sensorimotor coordination, mainly involving haptic …

Abdominal palpation is one of the basic but important physical examination methods used
by physicians. Visual, auditory, and haptic feedback from the patients are known to be the …

Teleoperated systems are routinely used in robotic surgery but have not yet permeated other
medical procedures, such as palpation. The main obstacle preventing it is the absence of …

This paper investigates the versatility of force feedback (FF) technology in enhancing user
interfaces across a spectrum of applications. We delve into the human finger pad's sensitivity …

Medical palpation is a key skill for clinicians. It is typically trained using animal and synthetic
models, which however raise ethical concerns and produce high volumes of consumables …

Achieving telepresence is the biggest challenge preventing healthcare robotics to permeate
the field of primary care and performing tasks such as remote palpation. To do so, the user …

Particle jamming is an emergent technology widely used to create haptic devices that can
change their physical stiffness to render hard or soft surfaces. Conventional implementations …

Palpation is a method used by physicians to physically examine patients using fingers or
hands to diagnose any disease or illness. Vocal pain expressions of the patient during …

The intent of this thesis it to find a correlation between the stiffness of granular jammed
particles and the pressure of the vacuum initiating the jamming force. Currently, granular …