diff --git a/lib/features/remote_control/presentation/pages/remote_control_page.dart b/lib/features/remote_control/presentation/pages/remote_control_page.dart
index 6f3da642..a2400c20 100644
--- a/lib/features/remote_control/presentation/pages/remote_control_page.dart
+++ b/lib/features/remote_control/presentation/pages/remote_control_page.dart
@@ -27,6 +27,13 @@ class RemoteControlPage extends StatefulWidget {
 
 class _RemoteControlPageState extends State<RemoteControlPage> {
   String _videoStreamUrl = "";
+  late RemoteControlCubit _cubit;
+
+  @override
+  void didChangeDependencies() {
+    super.didChangeDependencies();
+    _cubit = context.read<RemoteControlCubit>();
+  }
   @override
   void initState() {
     super.initState();
@@ -48,7 +55,8 @@ class _RemoteControlPageState extends State<RemoteControlPage> {
   void dispose() {
     SystemChrome.setPreferredOrientations([DeviceOrientation.portraitUp]);
     SystemChrome.setEnabledSystemUIMode(SystemUiMode.edgeToEdge);
-    context.read<RemoteControlCubit>().stopControlLoop();
+    // context.read<RemoteControlCubit>().stopControlLoop();
+    _cubit.stopControlLoop();
     super.dispose();
   }
 
diff --git a/lib/features/remote_control/presentation/widgets/emergency_stop_button.dart b/lib/features/remote_control/presentation/widgets/emergency_stop_button.dart
index c00ba6e9..34f9b0ec 100644
--- a/lib/features/remote_control/presentation/widgets/emergency_stop_button.dart
+++ b/lib/features/remote_control/presentation/widgets/emergency_stop_button.dart
@@ -2,6 +2,7 @@ import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 import 'package:flutter_bloc/flutter_bloc.dart';
 import 'package:flutter_svg/svg.dart';
+import 'package:vibration/vibration.dart';
 
 import '../bloc/remote_control_cubit.dart';
 
@@ -49,6 +50,8 @@ class _EmergencyStopButtonState extends State<EmergencyStopButton>
     _progressController.value = 0;
   }
 
+
+
   @override
   Widget build(BuildContext context) {
     final isEmergencyActive = context
@@ -85,22 +88,28 @@ class _EmergencyStopButtonState extends State<EmergencyStopButton>
           GestureDetector(
             onTap: () {
               debugPrint('🔴 [点击] 触发急停');
+              _triggerVibration();
               if (!isEmergencyActive) {
                 context.read<RemoteControlCubit>().updateEmergency(true);
+                context.read<RemoteControlCubit>().toggleLock();
                 HapticFeedback.heavyImpact();
               }
             },
             onLongPressStart: (_) {
               debugPrint('🔴 [长按开始] isEmergency=$isEmergencyActive');
+              _triggerVibration();
               if (isEmergencyActive && !_isPressing) {
                 setState(() => _isPressing = true);
                 debugPrint('🔴 [开始动画] 从 0 开始');
+                _triggerVibration();
                 _progressController.reset();
                 _progressController.forward().then((_) {
                   debugPrint('🔴 [动画完成] _isPressing=$_isPressing');
                   if (_isPressing && mounted) {
                     debugPrint('✅ [解除急停] 执行');
+                    _triggerVibration();
                     context.read<RemoteControlCubit>().updateEmergency(false);
+                    context.read<RemoteControlCubit>().toggleLock();
                     HapticFeedback.vibrate();
                     setState(() => _isPressing = false);
                   }
@@ -108,12 +117,15 @@ class _EmergencyStopButtonState extends State<EmergencyStopButton>
               }
             },
             onLongPressEnd: (_) {
+              _triggerVibration();
               debugPrint('🔴 [长按结束]');
               if (_isPressing) {
                 _resetProgress();
+
               }
             },
             onLongPressCancel: () {
+              _triggerVibration();
               debugPrint('🔴 [长按取消]');
               if (_isPressing) {
                 _resetProgress();
@@ -161,4 +173,17 @@ class _EmergencyStopButtonState extends State<EmergencyStopButton>
       ),
     );
   }
+
+  void _triggerVibration() {
+    Vibration.hasVibrator().then((hasVibrator) {
+      if (hasVibrator ?? false) {
+        Vibration.vibrate(duration: 50, amplitude: 380);
+        debugPrint(' 震动执行 - 10ms');
+      } else {
+        debugPrint(' 设备不支持震动');
+      }
+    }).catchError((e) {
+      debugPrint('震动失败：$e');
+    });
+  }
 }