Haptic feedback enhances collision avoidance by providing directional obstacle information to operators in unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar to UAV operators and limited to single-directional force feedback. Additionally, the direct coupling of the input device and the feedback method diminishes the operators' control authority and causes oscillatory movements. To overcome these limitations, we propose AeroHaptix, a wearable haptic feedback system that uses high-resolution vibrations to communicate multiple obstacle directions simultaneously. The vibrotactile actuators' layout was optimized based on a perceptual study to eliminate perceptual biases and achieve uniform spatial coverage. A novel rendering algorithm, MultiCBF, was adapted from control barrier functions to support multi-directional feedback. System evaluation showed that AeroHaptix effectively reduced collisions in complex environment, and operators reported significantly lower physical workload, improved situational awareness, and increased control authority.

翻译：触觉反馈通过向无人机遥操作中的操作者提供定向障碍物信息，增强了碰撞规避能力。然而，此类反馈通常通过触觉操纵杆呈现，这对无人机操作者而言较为陌生，且仅限于单一方向的力反馈。此外，输入设备与反馈方法的直接耦合削弱了操作者的控制权限，并导致振荡运动。为克服这些限制，我们提出了AeroHaptix，一种可穿戴触觉反馈系统，它利用高分辨率振动同时传达多个障碍物方向。基于一项感知研究优化了振动触觉执行器的布局，以消除感知偏差并实现均匀的空间覆盖。一种新颖的渲染算法MultiCBF从控制屏障函数改编而来，以支持多方向反馈。系统评估表明，AeroHaptix在复杂环境中有效减少了碰撞，操作者报告其物理负荷显著降低、态势感知能力得到改善且控制权限有所提升。