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We report on the teleoperation system DronePick which provides remote objectpicking and delivery by a human-controlled quadcopter. The main novelty of theproposed system is that the human user continuously gets the visual and hapticfeedback for accurate teleoperation. DronePick consists of a quadcopterequipped with a magnetic grabber, a tactile glove with finger motion trackingsensor, hand tracking system, and the Virtual Reality (VR) application. Thehuman operator teleoperates the quadcopter by changing the position of thehand. The proposed vibrotactile patterns representing the location of theremote object relative to the quadcopter are delivered to the glove. It helpsthe operator to determine when the quadcopter is right above the object. Whenthe "pick" command is sent by clasping the hand in the glove, the quadcopterdecreases its altitude and the magnetic grabber attaches the target object. Thewhole scenario is in parallel simulated in VR. The air flow from the quadcopterand the relative positions of VR objects help the operator to determine theexact position of the delivered object to be picked. The experiments showedthat the vibrotactile patterns were recognized by the users at the highrecognition rates: the average 99% recognition rate and the average 2.36srecognition time. The real-life implementation of DronePick featuring objectpicking and delivering to the human was developed and tested.

DronePick: Object Picking and Delivery Teleoperation with the Drone Controlled by a Wearable Tactile Display