Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe

• Nicolas Herzig ,

  Roles Conceptualization, Data curation, Formal analysis, Investigation, Methodology, Project administration, Resources, Software, Supervision, Validation, Visualization, Writing – original draft, Writing – review & editing

  * E-mail: n.herzig@sheffield.ac.uk

  Affiliation Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, United Kingdom

  http://orcid.org/0000-0002-5845-2697

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• Liang He,

  Roles Conceptualization, Resources, Writing – original draft, Writing – review & editing

  Affiliation Dyson School of Design Engineering, Imperial College London, London, United Kingdom

  http://orcid.org/0000-0002-4493-4660

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• Perla Maiolino,

  Roles Conceptualization, Resources, Software, Writing – original draft, Writing – review & editing

  Affiliation Oxford Robotics Institute, University of Oxford, Oxford, United Kingdom

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• Sara-Adela Abad,

  Roles Conceptualization, Visualization, Writing – original draft, Writing – review & editing

  Affiliations Department of Mechanical Engineering, University College London, London, United Kingdom, Institute for Applied Sustainability Research, Quito, Ecuador

  http://orcid.org/0000-0002-3471-6942

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• Thrishantha Nanayakkara

  Roles Conceptualization, Formal analysis, Funding acquisition, Project administration, Supervision, Writing – original draft, Writing – review & editing

  Affiliation Dyson School of Design Engineering, Imperial College London, London, United Kingdom

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