Force-Feedback Through Touch-based Interactions With A Nanocopter.
World Haptics Conference(2024)
Abstract
The choice of haptic rendering tools plays a pivotal role in the perception of the simulated kinesthetic feedback. This paper introduces a novel approach using Crazyflie-based quadcopters as haptic rendering devices to simulate virtual stiffness. By designing a specialized cage and implementing control using Crazyswarm and both centralized and decentralized localization techniques, we implemented the smallest drone-based direct-touch encounter-type haptic feedback device. We evaluated three different proportional control levels, with each level simulating a different stiffness based on a distance-to-thrust response. We conducted a user study, which revealed that even with only 21 grams of the force output range, participants could distinguish between the proportional levels, perceiving higher proportional levels as increased stiffness. We also identified distinct vibration characteristics between cages made of different 3D printing materials. Our findings suggest that quadcopters can be effectively used as haptic tools, offering a controllable kinesthetic feedback system.
MoreTranslated text
Key words
Force Feedback,Touch-based Interaction,Control System,3D Printing,User Study,Proprioceptive,Localization Techniques,Proportional Control,Direct Contact,Risk Perception,Harmony,Tracking System,Maximum Force,Carbon Fiber,Proportional-integral-derivative,Control Architecture,Human-robot Interaction,Head-mounted Display,Extended Kalman Filter,Virtual Objects,Vertical Interactions,Stiffness Levels,Kp Values,Vibrational Levels,Lateral Interactions,Trust Scale,Differences In Stiffness,Proportional Gain,Optical Sensors
AI Read Science
Must-Reading Tree
Example
![](https://originalfileserver.aminer.cn/sys/aminer/pubs/mrt_preview.jpeg)
Generate MRT to find the research sequence of this paper
Chat Paper
Summary is being generated by the instructions you defined