The purpose of this paper is to introduce the design, development and evaluation of a drone-integrated robotic gripper system with advanced object manipulation capabilities. The system, precisely crafted using 3D printing and through sensor integration, features a secure grasping mechanism. The system is capable of rendering grasping force and weight to the user using a wearable device.
It consists of two main components: the remote-control system (RCS) and the onboard system (OBS). This setup facilitates real-time tactile and data feedback, enhancing the operator’s control and perception during manipulation tasks. The RCS, a wearable wristband, integrates a Haptic Fingertip Device, a Friction Actuator Device and a display module to provide feedback from force sensors and a load cell.
Performance testing in diverse scenarios demonstrated the gripper’s adaptability, efficient grip force control and reliability. A user study further validated the system’s usability and practical performance. The proposed gripper system showed commendable payload capacity and grip force, as confirmed by experimental results.
While aerial manipulation is an emerging field, the integration of tactile feedback systems into drone-based grippers remains limited. The proposed RCS design introduces a novel contribution by combining drone manipulation with multi-sensory feedback, allowing users to intuitively perceive force and weight in real time, which is rarely achieved in existing drone gripper systems. Unlike many previous studies that focus mainly on system performance, this work emphasizes human in the loop evaluation. The user study presented here validates not only the technical performance of the system but also its usability and the user’s perceptual experience, adding a valuable human centered perspective to aerial manipulation research.
