Controller Gains of an Inverted Pendulum are Influenced by the Visual Feedback Position

Justinas Cesonis, Raz Leib, Sae Franklin, David W. Franklin

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

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5068-5071
Number of pages4
ISBN (Electronic)9781538613115
DOIs
StatePublished - 1 Jul 2019
Externally publishedYes
Event41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019 - Berlin, Germany
Duration: 23 Jul 201927 Jul 2019

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Conference

Conference41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
Country/TerritoryGermany
CityBerlin
Period23/07/1927/07/19

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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