TY - GEN
T1 - Controller Gains of an Inverted Pendulum are Influenced by the Visual Feedback Position
AU - Cesonis, Justinas
AU - Leib, Raz
AU - Franklin, Sae
AU - Franklin, David W.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - In this study we experimentally test and model the control behavior of human participants when controlling inverted pendulums of different dynamic lengths, and with visual feedback of varying congruence to these dynamic lengths. Participants were asked to stabilize the inverted pendulum of L = 1 m and L = 4 m, with visual feedback shown at various distances along the pendulum. We fit a family of linear models to the control input (cart velocity) applied by participants. We further tested the models by predicting this control input for a pendulum with dynamic length L = 2 m and comparing the prediction to the experimental data. We show that the sum of proportional error correction and a term inversely proportional to visual feedback gain can well describe the control in human participants.
AB - In this study we experimentally test and model the control behavior of human participants when controlling inverted pendulums of different dynamic lengths, and with visual feedback of varying congruence to these dynamic lengths. Participants were asked to stabilize the inverted pendulum of L = 1 m and L = 4 m, with visual feedback shown at various distances along the pendulum. We fit a family of linear models to the control input (cart velocity) applied by participants. We further tested the models by predicting this control input for a pendulum with dynamic length L = 2 m and comparing the prediction to the experimental data. We show that the sum of proportional error correction and a term inversely proportional to visual feedback gain can well describe the control in human participants.
UR - http://www.scopus.com/inward/record.url?scp=85077848777&partnerID=8YFLogxK
U2 - 10.1109/EMBC.2019.8857886
DO - 10.1109/EMBC.2019.8857886
M3 - Conference contribution
C2 - 31946998
AN - SCOPUS:85077848777
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 5068
EP - 5071
BT - 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
Y2 - 23 July 2019 through 27 July 2019
ER -