HapticDrone is our new approach to transform a drone into a force-reflecting haptic interface. While our earlier work proved the concept, this paper concretizes it by implementing accurate force control along with effective encountered-type stiffness and weight rendering for 1D interaction as a first step. To this end, generated force is identified with respect to drone's thrust command, allowing a precise control of force. Force control is combined with tracking of drone and hand, turning the HapticDrone into an ideal end-effector for the encountered-type haptics and making the system ready for more sophisticated physics simulation. Stiffness and weight of a virtual object is our first target of the simulation. Conventional stiffness and gravity simulation is merged into the encountered-type position control scheme, allowing a user to feel the softness and weight of an object. We further confirmed the feasibility by proving that the system fulfills the physical performance requirements commonly needed for an encountered-type haptic interface, i.e., force rendering bandwidth, accuracy, and tracking performance.
Muhammad Abdullah, Minji Kim, Waseem Hassan, Yoshihiro Kuroda, and Seokhee Jeon. "HapticDrone: An Encountered-Type Kinesthetic Haptic Interface with Controllable Force Feedback: Example of Stiffness and Weight Rendering." In 2018 IEEE Haptics Symposium, pp. 334-339
Muhammad Abdullah, Minji Kim, Waseem Hassan, Yoshihiro Kuroda, and Seokhee Jeon. "HapticDrone: An Encountered-Type Kinesthetic Haptic Interface with Controllable Force Feedback: Initial Example for 1D Haptic Feedback." In Adjunct Publication of the 30th Annual ACM Symposium on User Interface Software and Technology, pp. 115-117. ACM, 2017