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• [P28] Haptic Interface in UAV Tele-operation using Force-stiffness Feedback
  Author(s): Max Mulder, Thanh Mung Lam, Marinus Maria Van Paassen
  
  

  Abstract
  This study investigates the use of force-stiffness feedback, i.e., a combination of force offset and extra spring load, in UAV tele-operation with transmission time delay. The goal was to further increase the level of safety of tele-operation with a reduction in operator workload with respect to force feedback, i.e., using force offset alone. A theoretical analysis is given of using force-stiffness feedback to improve collision avoidance. Wave variables are included to reduce time delay effects. An experiment was conducted to investigate the effects of force-stiffness feedback on safety of operation, operator performance, control activity, and workload. Results indicate that force-stiffness feedback improves the haptic interface with respect to force feedback alone. Safety of tele-operation increases without increasing operator workload with respect to force feedback.

  
   

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