论文信息 - A comparison of Direct and Indirect Haptic Aiding for Remotely Piloted Vehicles

A comparison of Direct and Indirect Haptic Aiding for Remotely Piloted Vehicles

The paper presents an experimental evaluation of two different Haptic aiding concepts: Direct and Indirect Haptic Aiding. Two Haptic systems were designed and tested using an experimental setup. The problem of wind gust rejection in Remotely Piloted Vehicles is used as test bench. Test results show the effectiveness of both methods but a better performance of the IHA-based system for pilots without any previous training about the experiment. DHA-based system provided instead better results after some pilot training on the experiment. Pilots reported better sensation of the wind gusts with IHA-based feedback.

[1] R. A. Hess,et al. Stick and Feel System Design (Systemes de Restitution des Efforts au Manche). , 1997 .

[2] Venkataramanan Balakrishnan,et al. System identification: theory for the user (second edition): Lennart Ljung; Prentice-Hall, Englewood Cliffs, NJ, 1999, ISBN 0-13-656695-2 , 2002, Autom..

[3] Frans C. T. van der Helm,et al. Force-stiffness Feedback in UAV Tele-operation with Time Delay , 2009 .

[4] René van Paassen,et al. Artificial Force Field for Haptic Feedback in UAV Teleoperation , 2009, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[5] Mario Innocenti,et al. Preliminary Evaluation of a Haptic Aiding Concept for Remotely Piloted Vehicles , 2010, EuroHaptics.

[6] Leanne Boucher,et al. Saccades operate in violation of Hick’s law , 2002, Experimental Brain Research.

[7] Marc Rauw,et al. FDC 1.2 - A Simulink Toolbox for Flight Dynamics and Control Analysis , 2001 .

[8] Lennart Ljung,et al. System Identification: Theory for the User , 1987 .