Stabilization of a Cart Inverted Pendulum: Improving the Intermittent Feedback Strategy to Match the Limits of Human Performance.

ABSTRACT: Stabilization of the CIP (Cart Inverted Pendulum) is an analogy to stick balancing on a finger and is an example of unstable tasks that humans face in everyday life. The difficulty of the task grows exponentially with the decrease of the length of the stick and a stick length of 32 cm is considered as a human limit even for well-trained subjects. Moreover, there is a cybernetic limit related to the delay of the multimodal sensory feedback (about 230 ms) that supports a feedback stabilization strategy. We previously demonstrated that an intermittent-feedback control paradigm, originally developed for modeling the stabilization of upright standing, can be applied with success also to the CIP system, but with values of the critical parameters far from the limiting ones (stick length 50

SUBMITTER: Morasso P 

PROVIDER: S-EPMC6461063 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature