The availability of additional force cues in haptic devices are often expected to improve control performance, over conditions that only provide visual feedback. However, there is little empirical evidence to show this to be true for the teleoperation control of remote vehicles [i.e., multiple unmanned aerial vehicles (UAVs)]. In this paper, the contribution of haptic force feedback cues to the teleoperation of multiple UAVs was evaluated. These cues were based on either the UAVs’ velocity or directed forces from sensed obstacles. Both induced improved teleoperator perception of the remote environment. However, velocity-based cues resulted in more effortful maneuvering.

中文翻译：

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力反馈对多种无人机飞行中人类性能的贡献

在仅提供视觉反馈的条件下，通常希望在触觉设备中使用其他力提示来改善控制性能。但是，几乎没有经验证据可以证明这对于远程车辆（即，多架无人机）的遥距控制是正确的。在本文中，评估了触觉力反馈提示对多种无人机的遥操作的贡献。这些提示基于无人机的速度或来自感测到的障碍物的定向力。两者都改善了远程操作员对远程环境的感知。但是，基于速度的提示会导致更加省力的操作。