Aerial Interaction with Tactile Sensing

While the field of autonomous Uncrewed Aerial Vehicles (UAVs) has grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in high-altitude and high-risk operations. Tactile sensors, being both cost-effective and lightweight, are capable of sensing contact information including force distribution, as well as recognizing local textures. In this paper, we pioneer the use of vision-based tactile sensors on fully actuated UAVs in dynamic aerial manipulation tasks. We introduce a pipeline utilizing tactile feedback for force tracking via a hybrid motion-force controller and a method for wall texture detection during aerial interactions. Our experiments demonstrate that our system can effectively replace or complement traditional force/torque (F/T) sensors. Compared with only using the F/T sensor, our approach offers two solutions: substitution with tactile sensing, achieving comparable flight performance, or integration of tactile sensing with F/T sensor feedback, leading to around 16% improvement in position tracking accuracy. Our algorithm achieves 93.4% accuracy in real-time texture recognition, which further escalates to 100% in post-contact analysis. To the best of our knowledge, this is the first work to incorporate a vision- based tactile sensor into aerial interaction tasks.