Remote palpation enables noninvasive tissue examination in telemedicine, yet current tactile displays often lack the fidelity to convey both large-scale forces and fine spatial details. This study introduces a hybrid fingertip display comprising a rigid platform and a $4\times4$ soft pneumatic tactile display (4.93 mm displacement and 1.175 N per single pneumatic chamber) to render a hard lump beneath soft tissue. This study compares three rendering strategies: a Platform-Only baseline that renders the total interaction force; a Hybrid A (Position + Force Feedback) strategy that adds a dynamic, real-time soft spatial cue; and a Hybrid B (Position + Preloaded Stiffness Feedback) strategy that provides a constant, pre-calculated soft spatial cue. In a 12-participant lump detection study, both hybrid methods dramatically improved accuracy over the Platform-Only baseline (from 50\% to over 95\%). While the Hybrid B was highlighted qualitatively for realism, its event-based averaging is expected to increase interaction latency in real-time operation. This suggests a trade-off between perceived lump realism and real-time responsiveness, such that rendering choices that enhance realism may conflict with those that minimize latency.

翻译：远程触诊使得远程医疗中的无创组织检查成为可能，然而当前的触觉显示器往往缺乏同时传递大尺度作用力与精细空间细节的保真度。本研究介绍了一种混合指尖显示器，它由一个刚性平台和一个$4\times4$软体气动触觉显示器（单个气动腔体位移4.93 mm，力为1.175 N）组成，用于渲染软组织下的硬质肿块。本研究比较了三种渲染策略：仅渲染总交互力的“仅平台”基线策略；增加了动态、实时软体空间线索的“混合A（位置+力反馈）”策略；以及提供恒定、预计算软体空间线索的“混合B（位置+预载刚度反馈）”策略。在一项包含12名参与者的肿块检测研究中，两种混合方法相较于“仅平台”基线均显著提高了检测准确率（从50%提升至超过95%）。虽然“混合B”策略在感知真实性方面被定性突出，但其基于事件的平均方法预计会在实时操作中增加交互延迟。这表明感知肿块真实性与实时响应性之间存在权衡，即增强真实性的渲染选择可能与最小化延迟的选择相冲突。