用手势控制无人机，还带震动提醒超速，操作更直观安全。
Glove2UAV: A Wearable IMU-Based Glove for Intuitive Control of UAV
- 用可穿戴惯性传感器手套识别手势，实时估算手部姿态
- 手势指令响应快，飞行轨迹稳定，超速时震动提示及时
- 适合需要自然交互的无人机操作场景，如救援或巡检
本文提出Glove2UAV，一种基于可穿戴IMU手套的手势控制接口，通过手部与手指动作实现对小型无人机的直观操控，并集成振动触觉警告功能，在飞行速度超过预设阈值时提供额外警示。为实现动态飞行中的安全、可预测交互，该系统设计为轻量化且易于部署的实时接口。其通过紧凑处理流程实时传输惯性数据，结合中值滤波去噪与Madgwick算法估计手掌和手指姿态。运动估计结果映射为少量控制指令：前后/横向移动，部分平台支持物体交互命令。当飞行速度超过设定阈值时触发振动反馈，形成多通道警示。通过仿真与真实飞行测试验证了信号与无人机遥测的同步性。实验表明，手势指令执行迅速，手势动态与飞行响应耦合稳定，核心指令集在测试中准确运行，振动警告及时有效。
原文摘要 · Abstract (English)
This paper presents Glove2UAV, a wearable IMU-glove interface for intuitive UAV control through hand and finger gestures, augmented with vibrotactile warnings for exceeding predefined speed thresholds. To promote safer and more predictable interaction in dynamic flight, Glove2UAV is designed as a lightweight and easily deployable wearable interface intended for real-time operation. Glove2UAV streams inertial measurements in real time and estimates palm and finger orientations using a compact processing pipeline that combines median-based outlier suppression with Madgwick-based orientation estimation. The resulting motion estimations are mapped to a small set of control primitives for directional flight (forward/backward and lateral motion) and, when supported by the platform, to object-interaction commands. Vibrotactile feedback is triggered when flight speed exceeds predefined threshold values, providing an additional alert channel during operation. We validate real-time feasibility by synchronizing glove signals with UAV telemetry in both simulation and real-world flights. The results show fast gesture-based command execution, stable coupling between gesture dynamics and platform motion, correct operation of the core command set in our trials, and timely delivery of vibratile warning cues.
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