SwarmCloak：光強度駆動のウェアラブル触覚インタフェースを用いた2機のマイクロクアッドロータの人手への着陸
SwarmCloak: Landing of Two Micro-Quadrotors on Human Hands Using Wearable Tactile Interface Driven by Light Intensity
LED光の強度で振動触覚フィードバックを提示するウェアラブルデバイスを開発し、1〜2機の小型ドローンの手のひらへの着陸精度を視覚・触覚・視触覚条件で比較した研究。
著者: Evgeny Tsykunov, Ruslan Agishev, Roman Ibrahimov, Taha Moriyama, Luiza Labazanova, Hiroyuki Kajimoto, Dzmitry Tsetserukou
分類: cs.RO, cs.HC
原文アブストラクト
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.
