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This paper presents a software framework that supports the development of haptic-enabled physics simulations. The framework provides tools aiming to facilitate a fast prototyping process by utilizing component and flow-oriented architectures, while maintaining the capability to create efficient code which fulfills the performance requirements induced by the target applications. We argue that such...
Palpation is a physical examination technique where objects, e.g., organs or body parts, are touched with fingers to determine their size, shape, consistency and location. Many medical procedures utilize palpation as a supplementary interaction technique and it can be therefore considered as an essential basic method. However, palpation is mostly neglected in medical training simulators, with the...
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