HapticDrone: An Encountered-Type Kinesthetic Haptic Interface with Controllable Force Feedback
An encountered-type kinesthetic haptic interface using a drone to generate controllable force feedback for stiffness and weight rendering.
Researchers: Muhammad Abdullah, Minji Kim, and Seokhee Jeon
HapticDrone transforms a drone into a force-reflecting haptic interface. This work concretizes the concept by implementing accurate force control along with effective encountered-type stiffness and weight rendering for 1D interaction. Generated force is identified with respect to the drone's thrust command, allowing precise control of force; this is combined with tracking of the drone and hand, turning the HapticDrone into an ideal end-effector for encountered-type haptics. Stiffness and weight of a virtual object are the first simulation targets — conventional stiffness and gravity simulation are merged into the encountered-type position control scheme, allowing a user to feel the softness and weight of an object, with feasibility confirmed against the physical performance requirements commonly needed for an encountered-type haptic interface.
