@inproceedings{fili2015iros,
title={Encountered-type haptic interface for virtual interaction with real objects based on implicit surface haptic rendering for remote palpation},
author={Filippeschi,Alessandro and Brizzi,Filippo and Ruffaldi,Emanuele and Jacinto, Juan Manuel and Avizzano, Carlo Alberto},
booktitle={IEEE IROS Proceedings},
year={2015},
city={Hamburg,Germany},
scopus={2-s2.0-84958167134},
keywords={ReMeDi,haptics,AR,pdf:2015_C_IROS_Filippeschi,CoCo},
pages={5904--5909},
abstract={The shortage of physicians afflicting developed
countries encourages engineers and doctors to collaborate
towards the development of telemedicine. In particular, robotic
systems have the potential for helping doctors making examination.
A very common examination that can be the goal of
a robotic system is palpation. Most of the robotics systems
that have been developed for palpation present interesting
features such as integrating augmented reality environments or
allowing for hand free interaction. In this paper we present
a novel palpation system that allows us to perform virtual
palpation of real objects by means of a haptic and an augmented
reality feedback. This system features an encountered-type
haptic interface in which the haptic feedback is calculated by a
collision detection algorithm that is based on online recording
of the surface to be touched. The system allows the users to
remove their hand from the haptic interface end-effector that
follows the user?s hand thanks to the tracking performed by
a Leap Motion. We show that the system provides a natural
interaction during the contact-non contact switch, a suitable
force during indentation, and it allows to discriminate objects
within the body through the haptic channel.},
doi={10.1109/IROS.2015.7354216},
}

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In particular, robotic\nsystems have the potential for helping doctors making examination.\nA very common examination that can be the goal of\na robotic system is palpation. Most of the robotics systems\nthat have been developed for palpation present interesting\nfeatures such as integrating augmented reality environments or\nallowing for hand free interaction. In this paper we present\na novel palpation system that allows us to perform virtual\npalpation of real objects by means of a haptic and an augmented\nreality feedback. This system features an encountered-type\nhaptic interface in which the haptic feedback is calculated by a\ncollision detection algorithm that is based on online recording\nof the surface to be touched. The system allows the users to\nremove their hand from the haptic interface end-effector that\nfollows the user?s hand thanks to the tracking performed by\na Leap Motion. We show that the system provides a natural\ninteraction during the contact-non contact switch, a suitable\nforce during indentation, and it allows to discriminate objects\nwithin the body through the haptic channel.},\ndoi={10.1109/IROS.2015.7354216},\n}\n","author_short":["Filippeschi, A.","Brizzi, F.","Ruffaldi, E.","Jacinto, J. M.","Avizzano, C. 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