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An Experimental Study on Balancing Tasks of Human Subjects in Cooperation With Invisible Artificial Partners

[+] Author Affiliations
Shigeki Matsumoto, Katsutoshi Yoshida

Utsunomiya University, Utsunomiya, Tochigi, Japan

Paper No. DSCC2013-3857, pp. V001T15A004; 9 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5612-3
  • Copyright © 2013 by ASME


This paper studies coupled balancing tasks based on coupled inverted pendula (CIP) framework. We experimentally investigate the cooperative balancing task on a virtual CIP model, performed by a pair of an invisible artificial controller and a human subject, where experimental participants were not allowed to watch the movement of the artificial partner during experiments. The experimental result on Lyapunov exponents implies that the human subject seems to try to make the artificial controller neutrally stable as well as the visible case in our previous study. Therefore, the result implies that the visual feedback from the balancing state of the artificial partner may not be related to the dynamical property of human.

Copyright © 2013 by ASME



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