A Hybrid Soft Haptic Display for Rendering Lump Stiffness in Remote Palpation

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$4 \times 4$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.