Intermittent appearances of saddle-type hyperbolic dynamics during human stick balancing on a manually controlled cart
Intermittent appearances of saddle-type hyperbolic dynamics during human stick balancing on a manually controlled cart
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手动控制车上人力杆平衡过程中鞍型双曲动力学的间歇出现
DOI：
10.1109/embc.2015.7319147
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
T Nomura
中科院分区：
文献类型：
--
作者：
N Yoshikawa;Y Suzuki;K Kiyono;T Nomura
在手动控制的推车（推车-倒立摆；CIP）上稳定倒立摆，类似于人类指尖杆平衡，被认为可以深入了解人类中枢神经系统如何稳定不稳定的动态。我们探索了一种用于人体姿势控制的间歇性控制策略是否也适用于CIP任务的可能性，即，非受控倒立摆的鞍型平衡的稳定流形是否间歇性地利用了瞬态收缩动力学。为此，我们测量了几个实验对象在CIP平衡过程中的任务表现。利用相空间分析和小波分析对记录的运动数据中双曲度的间歇现象作为间歇控制策略的典型特征进行了研究。我们发现熟练的受试者倾向于表现出这些特征，这表明他们通过使用间歇性控制策略来稳定操纵杆的直立姿势。
Stabilization of an inverted pendulum on a manually controlled cart (cart-inverted pendulum; CIP), analogous to human fingertip stick balancing, is considered to get insights of how the human central nervous system stabilizes unstable dynamics. We explore a possibility that a type of intermittent control strategy proposed for human postural control might also be applicable to the CIP task, i.e., whether a transient contracting dynamics along a stable manifold of a saddle-type equilibrium of the non-controlled inverted pendulum is exploited intermittently. To this end, we measured task performances during CIP balancing from several experimental subjects. Intermittent appearances of hyperbolicity as typical characteristics reflecting the intermittent control strategy were examined in the recorded motion data using phase space analysis and wavelet analysis. We show that skilled subjects tend to exhibit those characteristics, suggesting that they stabilize upright posture of the stick by utilizing the intermittent control strategy.