AeroVr: Virtual Realitybased Teleoperation with Tactile Feedback for Aerial Manipulation Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and ecommerce. Most of such applications require teleoperation. The operator receives visual feedback from the camera installed on a robot arm or drone. As aerial manipulation requires delicate and precise motion of robot arm, the camera data delay, narrow field of view, and blurred image caused by drone dynamics can lead the UAV to crash. The paper focuses on the development of a novel teleoperation system for aerial manipulation using Virtual Reality (VR). The controlled system consists of UAV with a 4 DoF robotic arm and embedded sensors. VR application presents the digital twin of drone and remote environment to the user through a headmounted display (HMD). The operator controls the position of the robotic arm and gripper with VR trackers worn on the arm and tracking glove with vibrotactile feedback. Control data is translated directly from VR to the real robot in realtime. The experimental results showed a stable and robust teleoperation mediated by the VR scene. The proposed system can considerably improve the quality of aerial manipulations.

DronePick: Object Picking and Delivery Teleoperation with the Drone Controlled by a Wearable Tactile Display We report on the teleoperation system DronePick which provides remote object picking and delivery by a human controlled quadcopter. The main novelty of the proposed system is that the human user continuously gets the visual and haptic feedback for accurate teleoperation. DronePick consists of a quadcopter equipped with a magnetic grabber, a tactile glove with finger motion tracking sensor, hand tracking system, and the Virtual Reality (VR) application. The human operator teleoperates the quadcopter by changing the position of the hand. The proposed vibrotactile patterns representing the location of the remote object relative to the quadcopter are delivered to the glove. It helps the operator to determine when the quadcopter is right above the object. When the xe2x80x9cpickxe2x80x9d command is sent by clasping the hand in the glove, the quadcopter decreases its altitude and the magnetic grabber attaches the target object. The whole scenario is in parallel simulated in VR. The air flow from the quadcopter and the relative positions of VR objects help the operator to determine the exact position of the delivered object to be picked. The experiments showed that the vibrotactile patterns were recognized by the users at the high recognition rates: the average 99% recognition rate and the average 2.36s recognition time. The reallife implementation of DronePick featuring object picking and delivering to the human was developed and tested.