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Lack of feasible palpation display for primary diagnosis of a tumor without any need of physician to patient physical contact has been reported as one of the major concerns. To further explore this area, we developed a novel palpation device consisting of a uniquely designed nodule mechanism (based on optimizing nodule top and bottom hemisphere wall thickness and manipulating granular jamming method) that can vary stiffness while maintaining the shape of the same nodule display, for which current devices are not capable of in terms of aping a tumor.

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Feasibility Study and Experimental Evaluation of the Design of Nodule Prototype Developed for Palpation Display Apparatus: A Novel Device for Contactless Primary Tactile Diagnosis