This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweight protective cage. We predefined five static tactile patterns - each characterized by distinct combinations of linkage contact points and vibration intensities - and evaluated them in a grounded pilot study, where participants achieved 86.5 recognition accuracy (F(4, 35) = 1.47, p = 0.23) with no significant differences between patterns. Complementary flight demonstrations confirmed stable hover performance and consistent force output under realistic operating conditions. These pilot results validate the feasibility of drone-mounted, multi-contact haptic feedback and lay the groundwork for future integration into fully immersive VR, teleoperation, and remote interaction scenarios.
@article{arxiv.2505.02582,
title = {FlyHaptics: Flying Multi-contact Haptic Interface},
author = {Luis Moreno and Miguel Altamirano Cabrera and Muhammad Haris Khan and Issatay Tokmurziyev and Yara Mahmoud and Valerii Serpiva and Dzmitry Tsetserukou},
journal= {arXiv preprint arXiv:2505.02582},
year = {2025}
}