[2407.05595] Advancing Remote Medical Palpation through Cognition and Emotion Skip to main content Search Submit Donate Log in Search arXiv Press Enter to search · Advanced search Computer Science > Robotics arXiv:2407.05595 (cs) [Submitted on 8 Jul 2024 ( v1 ), last revised 26 Apr 2026 (this version, v3)] Title: Advancing Remote Medical Palpation through Cognition and Emotion Authors: 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 View a PDF of the paper titled Advancing Remote Medical Palpation through Cognition and Emotion, by Matti Itkonen and 13 other authors View PDF HTML (experimental) Abstract: 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. Subjects: Robotics (cs.RO) Cite as: arXiv:2407.05595 [cs.RO] (or arXiv:2407.05595v3 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2407.05595 Focus to learn more arXiv-issued DOI via DataCite Submission history From: Matti Itkonen [ view email ] [v1] Mon, 8 Jul 2024 04:16:11 UTC (917 KB) [v2] Wed, 9 Apr 2025 11:01:35 UTC (7,831 KB) [v3] Sun, 26 Apr 2026 06:45:51 UTC (7,714 KB) Full-text links: Access Paper: View a PDF of the paper titled Advancing Remote Medical Palpation through Cognition and Emotion, by Matti Itkonen and 13 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO < prev | next > new | recent | 2024-07 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... Data provided by: Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer ( What is the Explorer? ) Connected Papers Toggle Connected Papers ( What is Connected Papers? ) Litmaps Toggle Litmaps ( What is Litmaps? ) scite.ai Toggle scite Smart Citations ( What are Smart Citations? ) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv ( What is alphaXiv? ) Links to Code Toggle CatalyzeX Code Finder for Papers ( What is CatalyzeX? ) DagsHub Toggle DagsHub ( What is DagsHub? ) GotitPub Toggle Gotit.pub ( What is GotitPub? ) Huggingface Toggle Hugging Face ( What is Huggingface? ) ScienceCast Toggle ScienceCast ( What is ScienceCast? ) Demos Demos Replicate Toggle Replicate ( What is Replicate? ) Spaces Toggle Hugging Face Spaces ( What is Spaces? ) Spaces Toggle TXYZ.AI ( What is TXYZ.AI? ) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower ( What are Influence Flowers? ) Core recommender toggle CORE Recommender ( What is CORE? ) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs . Which authors of this paper are endorsers? | Disable MathJax ( What is MathJax? ) We gratefully acknowledge support from our major funders , member institutions , , and all contributors. About · Help · Contact · Subscribe · Copyright · Privacy · Accessibility · Operational Status (opens in new tab) Major funding support from