  Haptic feedback enhances collision avoidance by providing directional
obstacle information to operators in unmanned aerial vehicle (UAV)
teleoperation. However, such feedback is often rendered via haptic joysticks,
which are unfamiliar to UAV operators and limited to single-directional force
feedback. Additionally, the direct coupling of the input device and the
feedback method diminishes the operators' control authority and causes
oscillatory movements. To overcome these limitations, we propose AeroHaptix, a
wearable haptic feedback system that uses high-resolution vibrations to
communicate multiple obstacle directions simultaneously. The vibrotactile
actuators' layout was optimized based on a perceptual study to eliminate
perceptual biases and achieve uniform spatial coverage. A novel rendering
algorithm, MultiCBF, was adapted from control barrier functions to support
multi-directional feedback. System evaluation showed that AeroHaptix
effectively reduced collisions in complex environment, and operators reported
significantly lower physical workload, improved situational awareness, and
increased control authority.
