Flapping-wing drones have attracted significant attention due to their biomimetic flight. They are considered more human-friendly due to their characteristics such as low noise and flexible wings, making them suitable for human-drone interactions. However, few studies have explored the practical interaction between humans and flapping-wing drones. On establishing a physical interaction system with flapping-wing drones, we can acquire inspirations from falconers who guide birds of prey to land on their arms. This interaction interprets the human body as a dynamic landing platform, which can be utilized in various scenarios such as crowded or spatially constrained environments. Thus, in this study, we propose a falconry-like interaction system in which a flapping-wing drone performs a palm landing motion on a human hand. To achieve a safe approach toward humans, we design a trajectory planning method that considers both physical and psychological factors of the human safety such as the drone's velocity and distance from the user. We use a commercial flapping platform with our implemented motion planning and conduct experiments to evaluate the palm landing performance and safety. The results demonstrate that our approach enables safe and smooth hand landing interactions. To the best of our knowledge, it is the first time to achieve a contact-based interaction between flapping-wing drones and humans.

翻译：扑翼无人机因其仿生飞行特性而备受关注。由于其低噪音、柔性机翼等特点，这类无人机被认为更具人机友好性，适用于人机交互场景。然而，目前鲜有研究深入探索人类与扑翼无人机之间的实际交互。在建立与扑翼无人机的物理交互系统时，我们可以从猎鹰训练师引导猛禽降落于手臂的行为中获得启发。这种交互将人体视为动态降落平台，可应用于拥挤或空间受限等多种环境。因此，本研究提出一种仿猎鹰式交互系统，使扑翼无人机能够在人类手掌上执行降落动作。为实现对人类的安全接近，我们设计了一种轨迹规划方法，综合考虑了人类安全的物理与心理因素，如无人机速度及与用户的距离。我们采用商用扑翼平台结合自主实现的运动规划方案，通过实验评估掌上降落的性能与安全性。结果表明，该方法能够实现安全流畅的手部降落交互。据我们所知，这是首次实现扑翼无人机与人类之间的接触式交互。