Far-infrared Herschel/PACS images at 70 and 160 micron of a sample of 78 Galactic evolved stars are used to study the (dust) emission structures, originating from stellar wind-ISM interaction. In addition, two-fluid hydrodynamical simulations of the coupled gas and dust in wind-ISM interactions are used to compare with the observations. Four distinct classes of wind-ISM interaction (i.e. fermata, eyes, irregular, and rings) are identified and basic parameters affecting the morphology are discussed. We detect bow shocks for ~40% of the sample and detached rings for ~20%. De-projected stand-off distances (R_0) -- defined as the distance between the central star and the nearest point of the interaction region -- of the detected bow shocks (fermata and eyes) are derived from the PACS images and compared to previous results, model predictions and the simulations. All observed bow shocks have stand-off distances smaller than 1 pc. Observed and theoretical stand-off distances are used together to independently derive the local ISM density. Both theoretical (analytical) models and hydrodynamical simulations give stand-off distances for adopted stellar properties that are in good agreement with the measured de-projected stand-off distance of wind-ISM bow shocks. The possible detection of a bow shock -- for the distance limited sample -- appears to be governed by its physical size as set roughly by the stand-off distance. In particular the stars peculiar space velocity and the density of the ISM appear decisive in detecting emission from bow shocks or detached rings. Tentatively, the eyes class objects are associated to (visual) binaries, while the rings generally appear not to occur for M-type stars, only for C or S-type objects that have experienced a thermal pulse.
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