Abstract
This paper presents Glove2UAV, a wearable IMU-glove interface for intuitive UAV control through hand and finger gestures, augmented with vibrotactile warnings for exceeding predefined speed thresholds. To promote safer and more predictable interaction in dynamic flight, Glove2UAV is designed as a lightweight and easily deployable wearable interface intended for real-time operation. Glove2UAV streams inertial measurements in real time and estimates palm and finger orientations using a compact processing pipeline that combines median-based outlier suppression with Madgwick-based orientation estimation. The resulting motion estimations are mapped to a small set of control primitives for directional flight (forward/backward and lateral motion) and, when supported by the platform, to object-interaction commands. Vibrotactile feedback is triggered when flight speed exceeds predefined threshold values, providing an additional alert channel during operation. We validate real-time feasibility by synchronizing glove signals with UAV telemetry in both simulation and real-world flights. The results show fast gesture-based command execution, stable coupling between gesture dynamics and platform motion, correct operation of the core command set in our trials, and timely delivery of vibratile warning cues.
Abstract (translated)
本文介绍了Glove2UAV，这是一种可穿戴的IMU（惯性测量单元）手套界面，通过手部和手指手势进行直观的无人机控制，并辅以振动反馈提醒超过预定义速度阈值的情况。为了促进动态飞行中更安全、更具预测性的交互，Glove2UAV被设计成轻便且易于部署的手持式接口，旨在实现实时操作。 Glove2UAV能够实现实时惯性测量数据流传输，并利用一个结合了基于中位数的异常值抑制和Madgwick姿态估计的方法的小型处理管道来估算手掌和手指的姿态。由此产生的运动估计被映射到一组有限的控制基本动作，用于方向飞行（前后和横向移动），并在平台支持的情况下映射为对象交互命令。 当飞行速度超过预定义阈值时，振动反馈会被触发，这在操作过程中提供了一种额外的警报渠道。通过在模拟环境和真实世界飞行中同步手套信号与无人机遥测数据，我们验证了其实时可行性。实验结果表明：基于手势的命令执行速度快；手势动态变化与平台运动之间耦合稳定；我们的试验中核心命令集运行正确；振动警告提示及时送达。
URL
https://arxiv.org/abs/2601.15775
