SwarmTouch: Guiding a Swarm of Micro-Quadrotors With Impedance Control Using a Wearable Tactile Interface

Evgeny Tsykunov, Ruslan Agishev, Roman Ibrahimov, Luiza Labazanova, Akerke Tleugazy, Dzmitry Tsetserukou

    Research output: Contribution to journalArticlepeer-review

    18 Citations (Scopus)


    To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel interaction strategy for a human-swarm communication, which combines impedance control and vibrotactile feedback. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a natural swarm behavior. Several tactile patterns representing static and dynamic parameters of the swarm are proposed. The user feels the state of the swarm at the fingertips and receives valuable information to improve the controllability of the complex formation. A user study revealed the patterns with high recognition rates. A flight experiment demonstrated the possibility to accurately navigate the formation in a cluttered environment using only tactile feedback. Subjects stated that tactile sensation allows guiding the drone formation through obstacles and makes the human-swarm communication more interactive. The proposed technology can potentially have a strong impact on the human-swarm interaction, providing a higher level of awareness during the swarm navigation.

    Original languageEnglish
    Article number8758191
    Pages (from-to)363-374
    Number of pages12
    JournalIEEE Transactions on Haptics
    Issue number3
    Publication statusPublished - 1 Jul 2019


    • Human-robot interaction
    • tactile display
    • wearable computers


    Dive into the research topics of 'SwarmTouch: Guiding a Swarm of Micro-Quadrotors With Impedance Control Using a Wearable Tactile Interface'. Together they form a unique fingerprint.

    Cite this