Advancing Remote Medical Palpation through Cognition and Emotion
Advancing Remote Medical Palpation through Cognition and Emotion
著者: Matti Itkonen, Shotaro Okajima, Sayako Ueda, Alvaro Costa-Garcia, Yang Ningjia, Tadatoshi Kurogi, Takeshi Fujiwara, Shigeru Kurimoto, Shintaro Oyama, Masaomi Saeki, Michiro Yamamoto, Hidemasa Yoneda, Hitoshi Hirata, Shingo Shimoda
分類: cs.RO
原文アブストラクト
Medical palpation is more than force transmission. It is a bidirectional cognitive and emotional exchange between doctor and patient. We model two complementary touch pathways: active touch by the doctor (kinesthetic and tactile) and passive touch by the patient (subjective and emotional). We use this framework to design a mixed-reality telepalpation prototype and evaluate it with 14 experienced clinicians serving as both doctors and patients across 391 trials. Touch location was transmitted reliably across participants, while force perception showed systematic inter-individual variation, suggesting that force alone is insufficient to characterize the palpation experience.