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This is paving the way for augmenting sensory perception during object palpation in tele-surgery and reproducing the sensed information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with various distinct stiffness buried in an ad-hoc polymeric phantom. The contact force measured by the platform was encoded using a neuromorphic model and reproduced on the index fingertip of a remote user through a haptic glove embedding a piezoelectric disk. We assessed the effectiveness of this feedback in allowing nodule identification under two experimental conditions of real-time telepresence: In Line of Sight (ILS), where the platform was placed in the visible range of a user; and the more demanding Not In Line of Sight (NILS), with the platform and the user being 50 km apart. We found that the entailed percentage of identification was higher for stiffer inclusions with respect to the softer ones (average of 74% within the duration of the task), in both telepresence conditions evaluated. These promising results call for further exploration of tactile augmentation technology for telepresence in medical interventions.<\/jats:p>","DOI":"10.3390\/s19030641","type":"journal-article","created":{"date-parts":[[2019,2,5]],"date-time":"2019-02-05T11:31:07Z","timestamp":1549366267000},"page":"641","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence \u2020"],"prefix":"10.3390","volume":"19","author":[{"given":"Jessica","family":"D\u2019Abbraccio","sequence":"first","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56025 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luca","family":"Massari","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56025 Pisa, Italy"},{"name":"Department of Linguistics and Comparative Cultural Studies, Ca\u2019 Foscari University of Venice, 30123 Venice, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7339-5099","authenticated-orcid":false,"given":"Sahana","family":"Prasanna","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56025 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3014-9941","authenticated-orcid":false,"given":"Laura","family":"Baldini","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, \u201cSapienza\u201d University of Rome, 00185 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francesca","family":"Sorgini","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56025 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Giuseppe","family":"Air\u00f2 Farulla","sequence":"additional","affiliation":[{"name":"Department of Control and Computer Engineering, Politecnico di Torino, 10129 Turin, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4180-7284","authenticated-orcid":false,"given":"Andrea","family":"Bulletti","sequence":"additional","affiliation":[{"name":"Department of Information Engineering, Universit\u00e0 degli studi di Firenze, 50121 Florence, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4307-1995","authenticated-orcid":false,"given":"Marina","family":"Mazzoni","sequence":"additional","affiliation":[{"name":"Department of Information Engineering, Universit\u00e0 degli studi di Firenze, 50121 Florence, Italy"},{"name":"Istituto di Fisica Applicata \u201cNello Carrara\u201d, Consiglio Nazionale delle Ricerche of Italy, 50019 Sesto Fiorentino, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4432-3197","authenticated-orcid":false,"given":"Lorenzo","family":"Capineri","sequence":"additional","affiliation":[{"name":"Department of Information Engineering, Universit\u00e0 degli studi di Firenze, 50121 Florence, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arianna","family":"Menciassi","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56025 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Petar","family":"Petrovic","sequence":"additional","affiliation":[{"name":"Production Engineering Department, Faculty of Mechanical Engineering, University of Belgrade, 11120 Belgrade, Serbia"},{"name":"Academy of Engineering Sciences of Serbia (AISS), 11120 Belgrade, Serbia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3213-8261","authenticated-orcid":false,"given":"Eduardo","family":"Palermo","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, \u201cSapienza\u201d University of Rome, 00185 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1489-5701","authenticated-orcid":false,"given":"Calogero Maria","family":"Oddo","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56025 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,2,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Hannaford, B., and Okamura, A.M. 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