A Simulated Inverted Pendulum to Investigate Human Sensorimotor Control

Sensorimotor control regulates balance and stability as well as adaptation to the external environment. We introduce the use of a simulated inverted pendulum to study human sensorimotor control, demonstrating that this system introduces similar control challenges to human subjects as a physical inve...

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Bibliographic Details
Published in2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) Vol. 2018; pp. 5166 - 5169
Main Authors Cesonis, Justinas, Franklin, Sae, Franklin, David W.
Format Conference Proceeding Journal Article
LanguageEnglish
Published United States IEEE 01.07.2018
Subjects
Delays
Force
PD control
Robot sensing systems
Stability analysis
Visualization
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Summary:Sensorimotor control regulates balance and stability as well as adaptation to the external environment. We introduce the use of a simulated inverted pendulum to study human sensorimotor control, demonstrating that this system introduces similar control challenges to human subjects as a physical inverted pendulum. Participants exhibited longer stabilization of the system as the pendulum length between the hand and the center of mass increased while the required control input varied in a non-monotonic, yet predictable manner. Finally, we show that the experimental results can be modelled as a PD controller with a time delay of τ = 140 ms, matching the human visuomotor delay. Our results provide evidence of the importance of vision in a control of unstable systems and serve as a proof of concept of a simulated inverted pendulum.
ISSN:1557-170X
1558-4615
DOI:10.1109/EMBC.2018.8513434