SwarmCloak: Landing of Two Micro-Quadrotors on Human Hands Using Wearable Tactile Interface Driven by Light Intensity

Evgeny Tsykunov, Ruslan Agishev, Roman Ibrahimov, Taha Moriyama, Luiza Labazanova, Hiroyuki Kajimoto, Dzmitry Tsetserukou

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


    For the human operator, it is often easier and faster to catch a small size quadrotor right in the midair instead of landing it on a surface. However, interaction strategies for such cases have not yet been considered properly, especially when more than one drone has to be landed at the same time. In this paper, we propose a novel interaction strategy to land multiple robots on the human hands using vibrotactile feedback. We developed a wearable tactile display that is activated by the intensity of light emitted from an LED ring on the bottom of the quadcopter. We conducted experiments, where participants were asked to adjust the position of the palm to land one or two vertically-descending drones with different landing speeds, by having only visual feedback, only tactile feedback or visual-tactile feedback. We conducted statistical analysis of the drone landing positions, landing pad and human head trajectories. Two-way ANOVA showed a statistically significant difference between the feedback conditions. Experimental analysis proved that with an increasing number of drones, tactile feedback plays a more important role in accurate hand positioning and operator's convenience. The most precise landing of one and two drones was achieved with the combination of tactile and visual feedback.

    Original languageEnglish
    Title of host publication2020 IEEE Haptics Symposium, HAPTICS 2020
    PublisherIEEE Computer Society
    Number of pages6
    ISBN (Electronic)9781728102344
    Publication statusPublished - Mar 2020
    Event26th IEEE Haptics Symposium, HAPTICS 2020 - Crystal City, United States
    Duration: 28 Mar 202031 Mar 2020

    Publication series

    NameIEEE Haptics Symposium, HAPTICS
    ISSN (Print)2324-7347
    ISSN (Electronic)2324-7355


    Conference26th IEEE Haptics Symposium, HAPTICS 2020
    Country/TerritoryUnited States
    CityCrystal City


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