SwarmTouch: Tactile Interaction of Human with Impedance Controlled Swarm of Nano-Quadrotors
Host
Stefanie Mueller
MIT/CSAIL
Abstract:
We propose a novel interaction strategy for a human-swarm
communication when a human operator guides a formation
of quadrotors with impedance control and receives tactile
feedback. The presented approach takes into account the
human hand velocity and changes the formation shape and
dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a life-like swarm behavior. Experimental results with Crazyflie 2.0 quadrotor platform validate the proposed control algorithm. The tactile patterns representing dynamics of the swarm (extension or contraction) are proposed. The user feels the state of the swarm at his fingertips and receives valuable information to improve the controllability of the complex life-like formation. The user study revealed the patterns with high recognition rates. Subjects stated that tactile sensation improves the ability to guide the drone formation and makes the human-swarm communication much more interactive. The proposed technology can potentially have a strong impact on the human swarm interaction, providing a new level of intuitiveness and immersion into the swarm navigation.
Bio:
Dzmitry Tsetserukou received the Ph.D. degree in Information Science and Technology from the University of Tokyo, Japan, in 2007. From 2007 to 2009, he was a JSPS Post-Doctoral Fellow at the University of Tokyo. He worked as Assistant Professor at the Electronics-Inspired Interdisciplinary Research Institute, Toyohashi University of Technology from 2010 to 2014. From August 2014 he works at Skolkovo Institute of Science and Technology as Head of Intelligent Space Robotics Laboratory. Dzmitry is a member of the Institute of Electrical and Electronics Engineers (IEEE) since 2006 and the author of over 70 technical publications, 3 patents, and a book. His research interests include swarm of drones, wearable haptic and tactile displays, robot manipulator design, telexistence, human-robot interaction, affective haptics, virtual reality, and artificial intelligence. Dzmitry is the winner of the Best Demonstration Award (Bronze prize, AsiaHaptics 2018), Laval Virtual Award (ACM Siggraph 2016), Best Presentation Award (IRAGO 2013), Best Paper Award (ACM Augmented Human 2010). He was an organizer of the first Workshop on Affective Haptics at IEEE Haptics Symposium 2012.
We propose a novel interaction strategy for a human-swarm
communication when a human operator guides a formation
of quadrotors with impedance control and receives tactile
feedback. The presented approach takes into account the
human hand velocity and changes the formation shape and
dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a life-like swarm behavior. Experimental results with Crazyflie 2.0 quadrotor platform validate the proposed control algorithm. The tactile patterns representing dynamics of the swarm (extension or contraction) are proposed. The user feels the state of the swarm at his fingertips and receives valuable information to improve the controllability of the complex life-like formation. The user study revealed the patterns with high recognition rates. Subjects stated that tactile sensation improves the ability to guide the drone formation and makes the human-swarm communication much more interactive. The proposed technology can potentially have a strong impact on the human swarm interaction, providing a new level of intuitiveness and immersion into the swarm navigation.
Bio:
Dzmitry Tsetserukou received the Ph.D. degree in Information Science and Technology from the University of Tokyo, Japan, in 2007. From 2007 to 2009, he was a JSPS Post-Doctoral Fellow at the University of Tokyo. He worked as Assistant Professor at the Electronics-Inspired Interdisciplinary Research Institute, Toyohashi University of Technology from 2010 to 2014. From August 2014 he works at Skolkovo Institute of Science and Technology as Head of Intelligent Space Robotics Laboratory. Dzmitry is a member of the Institute of Electrical and Electronics Engineers (IEEE) since 2006 and the author of over 70 technical publications, 3 patents, and a book. His research interests include swarm of drones, wearable haptic and tactile displays, robot manipulator design, telexistence, human-robot interaction, affective haptics, virtual reality, and artificial intelligence. Dzmitry is the winner of the Best Demonstration Award (Bronze prize, AsiaHaptics 2018), Laval Virtual Award (ACM Siggraph 2016), Best Presentation Award (IRAGO 2013), Best Paper Award (ACM Augmented Human 2010). He was an organizer of the first Workshop on Affective Haptics at IEEE Haptics Symposium 2012.