Nodule detection sensitivities with Wilson score intervals at a 95% confidence level of vibration feedback, single-point pseudo-haptic feedback, and multi-point pseudo-haptic feedback.

<p>Nodule detection sensitivities with Wilson score intervals at a 95% confidence level of vibration feedback, single-point pseudo-haptic feedback, and multi-point pseudo-haptic feedback.</p

Concept of interactive haptic display using tablet computers.

<p>Concept of interactive haptic display using tablet computers.</p

Single-point and multi-point soft surface stiffness simulation.

<p>(a) A single indenter avatar represents one interaction point; (b) the locations of the three indenter avatars (marked using blue, red, and yellow dots), barycenter of the triangle (marked using a black dot), and the affected soft surface nodes of each indenter avatar (marked using small blue, red, and yellow circles).</p

Schematic diagram of the pseudo-haptic surface stiffness simulation using a desktop computer.

<p>Schematic diagram of the pseudo-haptic surface stiffness simulation using a desktop computer.</p

Comparison of sensitivity and accuracy.

<p>Comparison of sensitivity and accuracy.</p

The nodule detection sensitivity, specificity and accuracies with Wilson score intervals at a 95% confidence level of visual feedback of surface deformation, speed modification strategy, and combination of the two feedbacks.

<p>The nodule detection sensitivity, specificity and accuracies with Wilson score intervals at a 95% confidence level of visual feedback of surface deformation, speed modification strategy, and combination of the two feedbacks.</p

Time used for nodule detection using visual feedback of surface deformation, speed control strategy, and combination of the two feedbacks.

<p>Time used for nodule detection using visual feedback of surface deformation, speed control strategy, and combination of the two feedbacks.</p

Comparison experiment of pseudo-haptic feedback techniques.

<p>(a) The stiffness distribution information used in our experiment; the surface is divided into left and right parts; four types of status (A1, B1, C1 and no hard inclusion buried inside) are possible at each side; thirteen status combinations at the two sides are considered, and (b) the user interfaces of the three feedback modalities.</p

Elapsed time of nodule detection using vibration feedback and pseudo-haptic feedback.

<p>Elapsed time of nodule detection using vibration feedback and pseudo-haptic feedback.</p