Effect of haptic feedback in a trajectory following task with an unmanned aerial vehicle

Representation of vehicle dynamics in haptic teleoperation of aerial robots

“…In 2002 Lee et al [13] provided a user study that indicated that haptic feedback made a significant difference in the performance of a user in navigating through a complex obstacle strewn environment. The problem of force feedback teleoperation of a helicopter has been studied in the Faculty of Aerospace Engineering at Delft University of Technology over the last six years [2], [10], [12], [11]. This work has showed that a simple virtual potential or spring damper system does not provide good haptic cues to the pilot for obstacle avoidance.…”

User Interface Design Recommendations for Small Unmanned Aircraft Systems (sUAS)

“…Lam et al (2007) found that haptic warnings were effective in assisting teleoperators in avoiding collisions when visual information was insufficient. Haptic and aural displays have the potential to ameliorate both of the issues associated with external pilot teleoperation by reducing mental workload and supplementing insufficient visual information (Lam, et al, 2007;Lam, Delannoy, Mulder, & Van Paassen, 2005).…”

Stiffness-Force Feedback in UAV Tele-Operation

“…For collision avoidance in the tele-operation of a moving vehicle, it would be compatible with the operator's internal representation when the tactile cues would represent "repulsive forces" exerted from obstacles located near-by in the environment. These "repulsive forces" can be generated by an artificial force field (AFF) (Boschloo et al, 2004;Krogh, 1984). The purpose of the artificial force field is to transform the UAV position and velocity relative to an obstacle, to a certain "value" that can be fed back to a haptic control device, yielding an impedance on the operator's control deflections.…”

“…When considering a hand that is exerting a certain moment M h on the haptic device the following holds: To compare force feedback and stiffness feedback, it is important to tune the stiffness feedback in such a way that both systems will generate approximately the same level of repulsive force. The strategy adopted in this chapter is to tune the maximum repulsive moment based on the so-called Parametric Risk Field (PRF), an AFF adopted from (Boschloo et al, 2004).…”

“…Previous research efforts indicated that a haptic interface, using force feedback via a haptic control device, can be used to complement the visual interface. Haptic feedback provides information about the environment through the sense of touch (Lam et al, 2004;Lam et al, 2007). Indeed, the multi-sensory haptic interface improved operator performance and significantly reduced the number of collisions, leading to an overall highly increased level of safety (Lam et al, 2007).…”