{"id":"https://openalex.org/W4408222809","doi":"https://doi.org/10.1109/lra.2025.3548866","title":"AeroHaptix: A Wearable Vibrotactile Feedback System for Enhancing Collision Avoidance in UAV Teleoperation","display_name":"AeroHaptix: A Wearable Vibrotactile Feedback System for Enhancing Collision Avoidance in UAV Teleoperation","publication_year":2025,"publication_date":"2025-03-07","ids":{"openalex":"https://openalex.org/W4408222809","doi":"https://doi.org/10.1109/lra.2025.3548866"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3548866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3548866","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033629550","display_name":"Bingjian Huang","orcid":"https://orcid.org/0000-0002-9347-674X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bingjian Huang","raw_affiliation_strings":["Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9347-674X","affiliations":[{"raw_affiliation_string":"Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017192007","display_name":"Zhecheng Wang","orcid":"https://orcid.org/0000-0003-4989-6971"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zhecheng Wang","raw_affiliation_strings":["Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-4989-6971","affiliations":[{"raw_affiliation_string":"Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030906076","display_name":"Qilong Cheng","orcid":"https://orcid.org/0000-0002-2669-4253"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Qilong Cheng","raw_affiliation_strings":["Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-2669-4253","affiliations":[{"raw_affiliation_string":"Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109020854","display_name":"Siyi Ren","orcid":"https://orcid.org/0009-0005-0152-6316"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Siyi Ren","raw_affiliation_strings":["Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0009-0005-0152-6316","affiliations":[{"raw_affiliation_string":"Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030267614","display_name":"Hanfeng Cai","orcid":"https://orcid.org/0009-0004-1318-7895"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hanfeng Cai","raw_affiliation_strings":["Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058569092","display_name":"Antonio Alvarez Valdivia","orcid":"https://orcid.org/0000-0002-1810-8234"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Antonio Alvarez Valdivia","raw_affiliation_strings":["Mechanical Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-1810-8234","affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000737212","display_name":"Karthik Mahadevan","orcid":"https://orcid.org/0000-0002-3178-267X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Karthik Mahadevan","raw_affiliation_strings":["Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083735800","display_name":"Daniel Wigdor","orcid":"https://orcid.org/0000-0003-2008-7070"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Daniel Wigdor","raw_affiliation_strings":["Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2008-7070","affiliations":[{"raw_affiliation_string":"Dynamic Graphics Project Lab, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.5167,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98949676,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"5","first_page":"4260","last_page":"4267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9717000126838684,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14270","display_name":"Simulation and Modeling Applications","score":0.9663000106811523,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8677258491516113},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7949167490005493},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5867721438407898},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5614327192306519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5209568738937378},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4410146176815033},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40634793043136597},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3837434649467468},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.21591529250144958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19642606377601624},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11126503348350525},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06707391142845154}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8677258491516113},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7949167490005493},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5867721438407898},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5614327192306519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5209568738937378},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4410146176815033},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40634793043136597},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3837434649467468},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.21591529250144958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19642606377601624},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11126503348350525},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06707391142845154}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3548866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3548866","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.550000011920929,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1490137340","https://openalex.org/W1527260202","https://openalex.org/W2009742586","https://openalex.org/W2019895843","https://openalex.org/W2029736670","https://openalex.org/W2030940764","https://openalex.org/W2036435767","https://openalex.org/W2061000167","https://openalex.org/W2066866406","https://openalex.org/W2085124546","https://openalex.org/W2106632120","https://openalex.org/W2107433940","https://openalex.org/W2145674050","https://openalex.org/W2148316751","https://openalex.org/W2151442236","https://openalex.org/W2157289187","https://openalex.org/W2340316143","https://openalex.org/W2580237913","https://openalex.org/W2604294023","https://openalex.org/W2605279842","https://openalex.org/W2615547864","https://openalex.org/W2728204631","https://openalex.org/W2736525866","https://openalex.org/W2801986781","https://openalex.org/W2955550294","https://openalex.org/W2977055143","https://openalex.org/W2986792518","https://openalex.org/W3017153235","https://openalex.org/W3117221147","https://openalex.org/W3195708558","https://openalex.org/W3206408765","https://openalex.org/W3206589013","https://openalex.org/W3209515890","https://openalex.org/W4205399593","https://openalex.org/W4210761523","https://openalex.org/W4211229067","https://openalex.org/W4224272753","https://openalex.org/W4392631124","https://openalex.org/W4402594666","https://openalex.org/W6702079721"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2094105667","https://openalex.org/W3083255641","https://openalex.org/W2097347938","https://openalex.org/W2970545857","https://openalex.org/W2164858976","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Haptic":[0],"feedback":[1,20,49,70],"enhances":[2],"collision":[3],"avoidance":[4],"by":[5],"providing":[6],"directional":[7],"obstacle":[8,80],"information":[9],"to":[10,30,35,76,82,101,119,129],"operators":[11,32,144],"during":[12],"unmanned":[13],"aerial":[14],"vehicle":[15],"(UAV)":[16],"teleoperation.":[17],"However,":[18],"such":[19],"is":[21],"often":[22],"rendered":[23],"via":[24,97],"haptic":[25,69],"joysticks,":[26],"which":[27],"are":[28],"unfamiliar":[29],"UAV":[31],"and":[33,47,56,105,140,158],"limited":[34],"single-direction":[36],"force":[37,152],"feedback.":[38,122],"Additionally,":[39],"the":[40,44,48,136],"direct":[41],"coupling":[42],"between":[43],"input":[45,88,141],"device":[46],"method":[50],"diminishes":[51],"operators'":[52],"sense":[53],"of":[54,92,138],"control":[55,116],"induces":[57],"oscillatory":[58],"movements.":[59],"To":[60],"overcome":[61],"these":[62],"limitations,":[63],"we":[64],"propose":[65],"AeroHaptix,":[66],"a":[67,98,130],"wearable":[68],"system":[71,124],"that":[72,127,146],"uses":[73],"spatial":[74,108],"vibrations":[75],"simultaneously":[77],"communicate":[78],"multiple":[79],"directions":[81],"operators,":[83],"without":[84],"interfering":[85],"with":[86,154],"their":[87],"control.":[89],"The":[90],"layout":[91],"vibrotactile":[93],"actuators":[94],"was":[95,148],"optimized":[96],"perceptual":[99,103],"study":[100],"eliminate":[102],"biases":[104],"achieve":[106],"uniform":[107],"coverage.":[109],"A":[110],"novel":[111],"rendering":[112],"algorithm,":[113],"MultiCBF,":[114],"extended":[115],"barrier":[117],"functions":[118],"support":[120],"multi-directional":[121],"Our":[123],"evaluation":[125],"showed":[126],"compared":[128],"no-feedback":[131],"condition,":[132],"AeroHaptix":[133,147],"effectively":[134],"reduced":[135],"number":[137],"collisions":[139],"disagreement.":[142],"Furthermore,":[143],"reported":[145],"more":[149],"helpful":[150],"than":[151],"feedback,":[153],"improved":[155],"situational":[156],"awareness":[157],"comparable":[159],"workload.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
