The cage: towards a 6-DoF remote control with force feedback for UAV interaction

Charlie Anderson, Benji Barash, Charlie McNeill, Denis Ogun, Michael Wray, Jarrod Knibbe, Christopher H. Morris, Sue Ann Seah

Research output: Chapter in Book/Report/Conference proceedingConference PaperOtherpeer-review

2 Citations (Scopus)


Unmanned Aerial Vehicles (UAVs) require complex control and significant experience for piloting. While these devices continue to improve, there is, as yet, no device that affords six degrees of freedom (6-DoF) control and directional haptic feedback. We present The Cage, a 6-DoF controller for piloting an unmanned aerial vehicle (UAV). The Cage is comprised of a handle suspended by eight lines, each coupled to a vertex, within a physical cuboid cage. Each line in turn is connected to a stepper motor, allowing the pilot to move and rotate the handle freely to control the UAV whilst obtaining accurate directional force feedback. This feedback can both subtly and absolutely constrain the control of the UAV to within the flight area thus preventing the pilot from hazard collisions. We define 4 modes of force feedback and a range of application areas. We then provide details of a proof-of-concept device and suggest areas for future work.

Original languageEnglish
Title of host publicationCHI 2015 Crossings - Extended Abstracts Publication of the 33rd Annual CHI Conference on Human Factors in Computing Systems
Subtitle of host publicationApril 18-23, 2015 Seoul, Republic of Korea
EditorsKori Inkpen, Woontack Woo
Place of PublicationNew York NY USA
PublisherAssociation for Computing Machinery (ACM)
Number of pages6
ISBN (Electronic)9781450331456
Publication statusPublished - 2015
Externally publishedYes
EventInternational Conference on Human Factors in Computing Systems 2015 - Seoul, Korea, Republic of (South)
Duration: 18 Apr 201523 Apr 2015
Conference number: 33rd (Proceedings)


ConferenceInternational Conference on Human Factors in Computing Systems 2015
Abbreviated titleCHI 2015
CountryKorea, Republic of (South)
Internet address


  • 3D remote control
  • Drone
  • Force feedback
  • I/O haptic device
  • UAV

Cite this