Feedback Delay Changes the Control of an Inverted Pendulum

We recently developed a simulated inverted pendulum in order to examine human sensorimotor control strategies for stabilization. This simulated system allows us to manipulate the visual and haptic feedback independently from the physical dynamics of the task. Here we examine the effect of sensory de...

Full description

Saved in:
Bibliographic Details
Published in2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) Vol. 2019; pp. 1517 - 1520
Main Authors Franklin, Sae, Cesonis, Justinas, Leib, Raz, Franklin, David W.
Format Conference Proceeding Journal Article
LanguageEnglish
Published United States IEEE 01.07.2019
Subjects
Delays
Feedback
Feedback, Sensory
Frequency control
Haptic interfaces
Humans
Movement
Postural Balance
Robot sensing systems
Task analysis
Time Factors
Visualization
Online AccessGet full text

Cover

More Information
Summary:We recently developed a simulated inverted pendulum in order to examine human sensorimotor control strategies for stabilization. This simulated system allows us to manipulate the visual and haptic feedback independently from the physical dynamics of the task. Here we examine the effect of sensory delay in a balancing task. Human participants attempted to balance an inverted pendulum (simulated on a robotic manipulandum) with three different added delays (25, 50, and 75 ms), where the same delay was added to both the visual and haptic feedback. Increasing sensory delays decreased the ability of the participants to stabilize the pendulum. Investigation into the online control of the pendulum showed that with longer delays participants reduced their movement frequency but increased the amplitudes of their corrections.
ISSN:1557-170X
1558-4615
DOI:10.1109/EMBC.2019.8856897