Stability of inverted pendulum reveals transition between predictive control and impedance control in grip force modulation

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

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

Abstract

During object manipulation, our sensorimotor sys-tem needs to represent the objects dynamics in order to better control it. This is especially important in the case of grip force control where small forces can cause the object to slip from our fingers, and excessive forces can cause fatigue or even damage the object. While the tradeoff between these two constraints is clear for stable objects, such as lifting a soda can, it is less clear how the sensorimotor system adjusts the grip force for unstable objects. For this purpose, we measured the change in the grip force of individual human participants while they stabilize five different lengths of an inverted pendulum. These lengths set different dynamics of the pendulum, ranging in their degree of controllability. We observed two main states during such manipulation, a marginally stable state of the pendulum and a stabilization state in which participants acted to stabilize the system. While during the stabilization state participants increased their applied grip force, for the stable state we observed a mixed behaviour. For small and less controllable pendulums, grip force increased while for larger pendulums, participants could modulate the the grip force according to the anticipated load forces. Based on these results, we suggest that the pendulum dynamics change the control strategy between predictive control and impedance control.

Original languageEnglish
Title of host publication44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2022
PublisherInstitute of Electrical and Electronics Engineers
Pages1481-1484
Number of pages4
ISBN (Electronic)9781728127828
DOIs
StatePublished - 1 Jan 2022
Externally publishedYes
Event44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2022 - Glasgow, United Kingdom
Duration: 11 Jul 202215 Jul 2022

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume2022-July
ISSN (Print)1557-170X

Conference

Conference44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2022
Country/TerritoryUnited Kingdom
CityGlasgow
Period11/07/2215/07/22

ASJC Scopus subject areas

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

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