Analysis of a Human Stick Balancing Model with "Drift and Act" Hypothesis

Masayoshi Ito, Shosiro Hatakeyama, and Masaki Izutsu


system identification, human stick balancing, energy, drift and act


A study aims is to establish a evaluation method of human's operational skill for a supporting system. An operator stabilizes a cart-pendulum system. The examine try this stabilizing task for five days. A Human's operation postulates that there are drift phase and act phase. The human operation is analyzed based on ``Drift and Act'' hypothesis. In this paper, a human's control model at stabilizing operation of a pendulum is regurded as a energy feedback system. The control model consists of feedback of potential energy term and kinetic energy term of the cart-pendulum system. The operation skill is characterized by the identified controller. Additionally, the nonlinear controller with phase lead/delay is identified from the experimental data. It is found that human has a feedback and feedforward controller from the identified feedback/feedforward gain.

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