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.

翻译：本文介绍了Glove2UAV，一种基于可穿戴IMU手套的接口，通过手部和手指手势实现对无人机的直观控制，并辅以超出预设速度阈值的振动触觉警告。为了在动态飞行中促进更安全、更可预测的交互，Glove2UAV被设计为一种轻量级且易于部署的可穿戴接口，旨在实现实时操作。Glove2UAV实时流式传输惯性测量数据，并使用一个紧凑的处理流程来估计手掌和手指的方向，该流程结合了基于中值的异常值抑制和基于Madgwick的方向估计。生成的运动估计被映射到一小部分用于定向飞行（前后和横向运动）的控制原语，并在平台支持时映射到对象交互命令。当飞行速度超过预设阈值时，会触发振动触觉反馈，为操作期间提供额外的警报通道。我们通过在模拟和真实飞行中同步手套信号与无人机遥测数据，验证了实时可行性。结果表明，基于手势的命令执行速度快，手势动态与平台运动之间耦合稳定，在我们的试验中核心命令集运行正确，并且振动警告提示能及时传达。