小型力反馈摇杆让无人机操作员感知触觉，提升物理交互安全性
Design and Control of an Omnidirectional Aerial Robot with a Miniaturized Haptic Joystick for Physical Interaction
- 6自由度摇杆搭配4自由度力反馈，实现单轴独立控制
- 首次将标准遥控器形态与力反馈结合，提升操作物理感知
- 轻量化设计提升推重比，适合未来远程物理交互应用
过去几年中，全驱动飞行机器人在空中物理交互（APhI）方面展现出显著优势。本文提出一种极简化的空中遥操作方案，提升该技术的可及性。详细设计并实现了具备6自由度输入和4自由度力反馈的微型化力反馈操纵杆，是首个采用标准遥控器外形的APhI力反馈设备。通过缩小力反馈装置体积，将触觉感知融入传统遥控器，增强操作者对物理交互的感知能力。目标是为操作者提供超越视觉与听觉的额外感知维度，以实现更安全的空中物理交互。据作者所知，这是首个能够解耦各轴独立输入指令的遥操作系统。针对全向四旋翼，通过新型设计减少组件数量，旨在简化维护，并提升力与重量比。开源物理仿真平台及初步飞行测试成功验证了该系统的潜力，预示其在未来的APhI应用中具有广阔前景。
原文摘要 · Abstract (English)
Fully actuated aerial robot proved their superiority for Aerial Physical Interaction (APhI) over the past years. This work proposes a minimal setup for aerial telemanipulation, enhancing accessibility of these technologies. The design and the control of a 6-DoF joystick with 4-DoF haptic feedback is detailed. It is the first haptic device with standard Remote Controller (RC) form factor for APhI. By miniaturizing haptic device, it enhances RC with the sense of touch, increasing physical awareness. The goal is to give operators an extra sense, other than vision and sound, to help to perform safe APhI. To the best of the authors knowledge, this is the first teleoperation system able to decouple each single axis input command. On the omnidirectional quadrotor, by reducing the number of components with a new design, we aim a simplified maintenance, and improved force and thrust to weight ratio. Open-sourced physic based simulation and successful preliminary flight tests highlighted the tool as promising for future APhI applications.
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