Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robots

Xiaolei Hou, Robert Mahony, Felix Schill

    Research output: Contribution to journalArticlepeer-review

    27 Citations (Scopus)


    Force feedback is a powerful sensory cue that can provide a user, remotely teleoperating a vertical takeoff and landing (VTOL) aerial robotic vehicle, with an enhanced perception of the robot motion and interaction with the local environment. The accepted framework for mobile vehicle teleoperation, inspired by decades of research into manipulator teleoperation, maps joystick displacements to vehicle velocity set points and reflects interactive forces from the vehicle to the human operator. This paper proposes a novel admittance configured haptic interface where the force input from the user is used as a velocity set point and the joystick position is servo-controlled to reflect the vehicle velocity. This paper provides a comparative study, both analytic and experimental, of the two interfaces to investigate the performance and perceptual differences in the context of teleoperation of a VTOL aerial robot.

    Original languageEnglish
    Article number7360213
    Pages (from-to)1352-1363
    Number of pages12
    JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
    Issue number10
    Publication statusPublished - Oct 2016


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